Vision-Aided Dynamic Quadrupedal Locomotion on Discrete Terrain Using Motion Libraries
Ayush Agrawal,Shuxiao Chen,Akshara Rai,Koushil Sreenath,Ayush Agrawal,Shuxiao Chen,Akshara Rai,Koushil Sreenath
In this paper, we present a framework rooted in control and planning that enables quadrupedal robots to traverse challenging terrains with discrete footholds using visual feedback. Navigating discrete terrain is challenging for quadrupeds because the motion of the robot can be aperiodic, highly dynamic, and blind for the hind legs of the robot. Additionally, the robot needs to reason over both the...
