Rapid Stability Margin Estimation for Contact-Rich Locomotion
Romeo Orsolino,Siddhant Gangapurwala,Oliwier Melon,Mathieu Geisert,Ioannis Havoutis,Maurice Fallon,Romeo Orsolino,Siddhant Gangapurwala,Oliwier Melon,Mathieu Geisert,Ioannis Havoutis,Maurice Fallon
The efficient evaluation the dynamic stability of legged robots on non-coplanar terrains is important when developing motion planning and control policies. The inference time of this measure has a strong influence on how fast a robot can react to unexpected events, plan its future footsteps or its body trajectory. Existing approaches suitable for real-time decision making are either limited to fla...
