Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping
Matthew Chignoli,Savva Morozov,Sangbae Kim,Matthew Chignoli,Savva Morozov,Sangbae Kim
Dynamic jumping with legged robots poses a challenging problem in planning and control. Formulating the jump optimization to allow fast online execution is difficult; efficiently using this capability to generate long-horizon motion plans further complicates the problem. In this work, we present a hierarchical planning framework to address this problem. We first formulate a real-time tractable tra...
