Fast Global Motion Planning for Dynamic Legged Robots
Joseph Norby,Aaron M. Johnson,Joseph Norby,Aaron M. Johnson
This work presents a motion planning algorithm for legged robots capable of constructing long-horizon dynamic plans in real-time. Many existing methods use models that prohibit flight phases or even require static stability, while those that permit these dynamics often plan over short horizons or take minutes to compute. The algorithm presented here resolves these issues through a reduced-order dy...
