Corpus ID: 17158009

Traversing Environments Using Possibility Graphs for Humanoid Robots

@article{Grey2016TraversingEU,
  title={Traversing Environments Using Possibility Graphs for Humanoid Robots},
  author={Michael X. Grey and A. Ames and C. Karen Liu},
  journal={ArXiv},
  year={2016},
  volume={abs/1608.03845}
}
Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require several forms of locomotion to be sequenced together, such as walking, crawling, and jumping. Multi-modal motion planners can be used to address some of these problems, but existing implementations tend to be time-consuming and are limited to quasi-static… Expand
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