Motion Planning for Agile Legged Locomotion using Failure Margin Constraints
Kevin Green,John Warila,Ross L. Hatton,Jonathan Hurst,Kevin Green,John Warila,Ross L. Hatton,Jonathan Hurst
The complex dynamics of agile robotic legged locomotion requires motion planning to intelligently adjust footstep locations. Often, bipedal footstep and motion planning use mathematically simple models such as the linear inverted pendulum, instead of dynamically-rich models that do not have closed-form solutions. We propose a real-time optimization method to plan for dynamical models that do not h...
