Real-time Dynamic Bipedal Avoidance
Tianze Wang,Jason White,Christian Hubicki,Tianze Wang,Jason White,Christian Hubicki
In real-world settings, bipedal robots must avoid collisions with people and their environment. Further, a biped can choose between modes of avoidance: (1) adjust its pose while standing or (2) step to gain maneuverability. We present a real-time motion planner and multibody control framework for dynamic bipedal robots that avoids multiple moving obstacles and automatically switches between standi...
