Fast Footstep Planning on Uneven Terrain Using Deep Sequential Models
Hersh Sanghvi,Camillo Jose Taylor,Hersh Sanghvi,Camillo Jose Taylor
One of the fundamental challenges in realizing the potential of legged robots is generating plans to traverse challenging terrains. Control actions must be carefully selected so the robot will not crash or slip. The high dimensionality of the joint space makes directly planning low-level actions from onboard perception difficult, and control stacks that do not consider the low-level mechanisms of ...
