Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Driving in Challenging Terrain
نویسندگان
چکیده
منابع مشابه
Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots
An algorithm is presented for wheeled mobile robot trajectory generation that achieves a high degree of generality and efficiency. The generality derives from numerical linearization and inversion of forward models of propulsion, suspension, and motion for any type of vehicle. Efficiency is achieved by using fast numerical optimization techniques and effective initial guesses for the vehicle co...
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ژورنال
عنوان ژورنال: IEEE Robotics and Automation Letters
سال: 2020
ISSN: 2377-3766,2377-3774
DOI: 10.1109/lra.2020.2990720