Reactive Control for Bipedal Running Over Random Discrete Terrain Under Uncertainty
Omer Nir,Amir Degani,Omer Nir,Amir Degani
This paper presents a reactive control framework for robotic bipedal running over random discrete terrain using a shift-invariant funnel library that can be composed into motion plans. The main contribution of the paper is the formalization of the funnel library and the introduction of a receding-horizon reactive planner that utilizes this funnel library. The proposed controller generates a robust...
