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- W4283734789 abstract "Terrain geometry is, in general, nonsmooth, nonlinear, nonconvex, and, if perceived through a robot-centric visual unit, appears partially occluded and noisy. This article presents the complete control pipeline capable of handling the aforementioned problems in real-time. We formulate a trajectory optimization problem that jointly optimizes over the base pose and footholds, subject to a height map. To avoid converging into undesirable local optima, we deploy a graduated optimization technique. We embed a compact, contact-force free stability criterion that is compatible with the nonflat ground formulation. Direct collocation is used as transcription method, resulting in a nonlinear optimization problem that can be solved online in less than ten milliseconds. To increase robustness in the presence of external disturbances, we close the tracking loop with a momentum observer. Our experiments demonstrate stair climbing, walking on stepping stones, and over gaps, utilizing various dynamic gaits." @default.
- W4283734789 created "2022-07-01" @default.
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- W4283734789 date "2022-12-01" @default.
- W4283734789 modified "2023-09-26" @default.
- W4283734789 title "TAMOLS: Terrain-Aware Motion Optimization for Legged Systems" @default.
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- W4283734789 doi "https://doi.org/10.1109/tro.2022.3186804" @default.
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