Overtaking Moving Obstacles with Digit: Path Following for Bipedal Robots via Model Predictive Contouring Control
Kunal S. Narkhede,Dhruv A. Thanki,Abhijeet M. Kulkarni,Ioannis Poulakakis,Kunal S. Narkhede,Dhruv A. Thanki,Abhijeet M. Kulkarni,Ioannis Poulakakis
Humanoid robots are expected to navigate in changing environments and perform a variety of tasks. Frequently, these tasks require the robot to make decisions online regarding the speed and precision of following a reference path. For example, a robot may want to decide to temporarily deviate from its path to overtake a slowly moving obstacle that shares the same path and is ahead. In this case, pa...
