Reactive Locomotion Decision-Making and Robust Motion Planning for Real-Time Perturbation Recovery
Zhaoyuan Gu,Nathan Boyd,Ye Zhao,Zhaoyuan Gu,Nathan Boyd,Ye Zhao
In this paper, we examine the problem of push recovery for bipedal robot locomotion and present a reactive decision-making and robust planning framework for locomotion resilient to external perturbations. Rejecting perturbations is an essential capability of bipedal robots and has been widely studied in the locomotion literature. However, adversarial disturbances and aggressive turning can lead to...
