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- W2077673559 abstract "We present a novel approach to legged locomotion over rough terrain that is thoroughly rooted in optimization. This approach relies on a hierarchy of fast, anytime algorithms to plan a set of footholds, along with the dynamic body motions required to execute them. Components within the planning framework coordinate to exchange plans, cost-to-go estimates, and “certificates” that ensure the output of an abstract high-level planner can be realized by deeper layers of the hierarchy. The burden of careful engineering of cost functions to achieve desired performance is substantially mitigated by a simple inverse optimal control technique. Robustness is achieved by real-time re-planning of the full trajectory, augmented by reflexes and feedback control. We demonstrate the successful application of our approach in guiding the LittleDog quadruped robot over a variety of rough terrains." @default.
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- W2077673559 date "2010-05-01" @default.
- W2077673559 modified "2023-09-26" @default.
- W2077673559 title "An optimization approach to rough terrain locomotion" @default.
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- W2077673559 doi "https://doi.org/10.1109/robot.2010.5509176" @default.
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