Name
Abstract | ||
|---|---|---|
We present a contact planner for complex legged locomotion tasks: standing up, climbing stairs using a handrail, crossing rubble, and getting out of a car. The need for such a planner was shown at the DARPA Robotics Challenge, where such behaviors could not be demonstrated (except for egress). Current planners suffer from their prohibitive algorithmic complexity because they deploy a tree of robot... |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/TRO.2018.2819658 | IEEE Transactions on Robotics |
Keywords | Field | DocType |
Planning,Legged locomotion,Complexity theory,Manifolds,Collision avoidance,Foot | Control theory,Planner,Reachability,Artificial intelligence,Robotics,Humanoid robot,Cartesian coordinate system,Motion planning,Robot control,Mathematical optimization,Simulation,Robot,Mathematics | Journal |
Volume | Issue | ISSN |
34 | 3 | 1552-3098 |
Citations | PageRank | References |
7 | 0.48 | 67 |
Authors | ||
6 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Steve Tonneau | 1 | 7 | 0.48 |
| Andrea Del Prete | 2 | 76 | 8.90 |
| Julien Pettré | 3 | 785 | 56.21 |
| Chonhyon Park | 4 | 89 | 8.77 |
| Dinesh Manocha | 5 | 9551 | 787.40 |
| Nicolas Mansard | 6 | 490 | 39.67 |