Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping, and Whole-Body Control

@article{Mastalli2020MotionPF,
  title={Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping, and Whole-Body Control},
  author={Carlos Mastalli and Ioannis Havoutis and Michele Focchi and Darwin Gordon Caldwell and Claudio Semini},
  journal={IEEE Transactions on Robotics},
  year={2020},
  volume={36},
  pages={1635-1648}
}
Planning whole-body motions while taking into account the terrain conditions is a challenging problem for legged robots since the terrain model might produce many local minima. Our coupled planning method uses stochastic and derivatives-free search to plan both foothold locations and horizontal motions due to the local minima produced by the terrain model. It jointly optimizes body motion, step duration and foothold selection, and it models the terrain as a cost-map. Due to the novel attitude… 
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