Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion
H. J. Terry Suh,Xiaobin Xiong,Andrew Singletary,Aaron D. Ames,Joel W. Burdick,H. J. Terry Suh,Xiaobin Xiong,Andrew Singletary,Aaron D. Ames,Joel W. Burdick
Hybrid locomotion, which combines multiple modalities of locomotion within a single robot, enables robots to carry out complex tasks in diverse environments. This paper presents a novel method for planning multi-modal locomotion trajectories using approximate dynamic programming. We formulate this problem as a shortest-path search through a state-space graph, where the edge cost is assigned as opt...
