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Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping
[article]
2022
arXiv
pre-print
Dynamic jumping with legged robots poses a challenging problem in planning and control. Formulating the jump optimization to allow fast online execution is difficult; efficiently using this capability to generate long-horizon motion plans further complicates the problem. In this work, we present a hierarchical planning framework to address this problem. We first formulate a real-time tractable trajectory optimization for performing omnidirectional jumping. We then embed the results of this
arXiv:2111.13648v2
fatcat:7357lsfofbelhbxdgmjxuyd2ri