Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots
James Zhu,J. Joe Payne,Aaron M. Johnson,James Zhu,J. Joe Payne,Aaron M. Johnson
In order to perform highly dynamic and agile maneuvers, legged robots typically spend time in underactuated domains (e.g. with feet off the ground) where the system has limited command of its acceleration and a constrained amount of time before transitioning to a new domain (e.g. foot touchdown). Meanwhile, these transitions can instantaneously change the system’s state, possibly causing perturbat...
