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Vision-aided Dynamic Quadrupedal Locomotion on Discrete Terrain using Motion Libraries
[article]
2022
arXiv
pre-print
In this paper, we present a framework rooted in control and planning that enables quadrupedal robots to traverse challenging terrains with discrete footholds using visual feedback. Navigating discrete terrain is challenging for quadrupeds because the motion of the robot can be aperiodic, highly dynamic, and blind for the hind legs of the robot. Additionally, the robot needs to reason over both the feasible footholds as well as robot velocity by speeding up and slowing down at different parts of
arXiv:2110.00891v2
fatcat:hfjvfr5jjfh3hhnm5pg7bieteq