Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots

Abstract

We present a framework for quadrupedal locomotion over highly challenging terrain where the choice of appropriate footholds is crucial for the success of the behaviour. We use a path planning approach which shares many similarities with the results of the DARPA Learning Locomotion challenge and extend it to allow more flexibility and increased robustness… (More)
DOI: 10.1109/ICRA.2014.6907815

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