Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots
Luca Clemente,Octavio Villarreal,Angelo Bratta,Michele Focchi,Victor Barasuol,Giovanni Gerardo Muscolo,Claudio Semini,Luca Clemente,Octavio Villarreal,Angelo Bratta,Michele Focchi,Victor Barasuol,Giovanni Gerardo Muscolo,Claudio Semini
To traverse complex scenarios reliably a legged robot needs to move its base aided by the ground reaction forces, which can only be generated by the legs that are momentarily in contact with the ground. A proper selection of footholds is crucial for maintaining balance. In this paper, we propose a foothold evaluation criterion that considers the transition feasibility for both linear and angular d...
