Name
Title | ||
|---|---|---|
Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds. |
Abstract | ||
|---|---|---|
In this letter, we present a trajectory optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a quadruped robot. In contrast to most previous methods, we do not prespecify contact-switches, -timings, -points or gait patterns, but they are a direct outcome of th... |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1109/LRA.2017.2665685 | IEEE Robotics and Automation Letters |
Keywords | DocType | Volume |
Robots,Hardware,Cost function,Trajectory,Dynamics,Optimal control | Journal | 2 |
Issue | ISSN | Citations |
3 | 2377-3766 | 3 |
PageRank | References | Authors |
0.40 | 0 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| M. Neunert | 1 | 65 | 9.95 |
| Farbod Farshidian | 2 | 33 | 6.10 |
| A. W. Winkler | 3 | 40 | 4.21 |
| Jonas Buchli | 4 | 1081 | 72.94 |