MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion
Octavio Villarreal,Victor Barasuol,Patrick M. Wensing,Darwin G. Caldwell,Claudio Semini,Octavio Villarreal,Victor Barasuol,Patrick M. Wensing,Darwin G. Caldwell,Claudio Semini
We present a novel control strategy for dynamic legged locomotion in complex scenarios that considers information about the morphology of the terrain in contexts when only on-board mapping and computation are available. The strategy is built on top of two main elements: first a contact sequence task that provides safe foothold locations based on a convolutional neural network to perform fast and c...
