Motion Planning for Legged Robots on Varied Terrain


This paper studies the quasi-static motion of large legged robots that have many degrees of freedom. While gaited walking may suffice on easy ground, rough and steep terrain requires unique sequences of footsteps and postural adjustments specifically adapted to the terrain’s local geometric and physical properties. This paper presents a planner that… (More)
DOI: 10.1177/0278364908098447


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