Passive Whole-Body Control for Quadruped Robots: Experimental Validation Over Challenging Terrain
نویسندگان
چکیده
منابع مشابه
Learning, planning, and control for quadruped locomotion over challenging terrain
We present a control architecture for fast quadruped locomotion over rough terrain. We approach the problem by decomposing it into many sub-systems, in which we apply state-of-the-art learning, planning, optimization, and control techniques to achieve robust, fast locomotion. Unique features of our control strategy include: (1) a system that learns optimal foothold choices from expert demonstra...
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ژورنال
عنوان ژورنال: IEEE Robotics and Automation Letters
سال: 2019
ISSN: 2377-3766,2377-3774
DOI: 10.1109/lra.2019.2908502