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04/19/2021
Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization
To dynamically traverse challenging terrain, legged robots need to conti...
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12/05/2020
RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control
We present a unified model-based and data-driven approach for quadrupeda...
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11/16/2020
An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion
Developing feasible body trajectories for legged systems on arbitrary te...
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10/15/2019
On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics
We propose two feasibility constraints to be included in a Single Rigid ...
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03/19/2019
Feasible Region: an Actuation-Aware Extension of the Support Region
In legged locomotion the support region is defined as the 2D horizontal ...
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05/25/2018
Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality
The quality of the visual feedback can vary significantly on a legged ro...
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12/19/2017
A Feasibility Metric for Trajectory Optimization of Legged Robots using Wrench Polytopes
Motion planning in multi-contact scenarios has recently gathered interes...
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12/07/2017