Hierarchical Experience-informed Navigation for Multi-modal Quadrupedal Rebar Grid Traversal
Max Asselmeier,Jane Ivanova,Ziyi Zhou,Patricio A. Vela,Ye Zhao,Max Asselmeier,Jane Ivanova,Ziyi Zhou,Patricio A. Vela,Ye Zhao
This study focuses on a layered, experience-based, multi-modal contact planning framework for agile quadrupedal locomotion over a constrained rebar environment. To this end, our hierarchical planner incorporates locomotion-specific modules into the high-level contact sequence planner and performs kinodynamically-aware trajectory optimization as the low-level motion planner. Through quantitative an...
