Corpus ID: 278138

Traversing Environments Using Possibility Graphs with Multiple Action Types

@article{Grey2016TraversingEU,
  title={Traversing Environments Using Possibility Graphs with Multiple Action Types},
  author={Michael X. Grey and C. Karen Liu and A. Ames},
  journal={ArXiv},
  year={2016},
  volume={abs/1610.00701}
}
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
1 Citations
Long-horizon humanoid navigation planning using traversability estimates and previous experience
TLDR
This paper presents a method that plans a torso guiding path which accounts for the difficulty of traversing the environment as predicted by learned regressors and decomposes the guiding path into a set of segments, each of which is assigned a motion mode and a planning method. Expand

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