Terrain-Adaptive Planning and Control of Complex Motions for Walking Excavators
Edo Jelavic,Yannick Berdou,Dominic Jud,Simon Kerscher,Marco Hutter,Edo Jelavic,Yannick Berdou,Dominic Jud,Simon Kerscher,Marco Hutter
This article presents a planning and control pipeline for legged-wheeled (hybrid) machines. It consists of a Trajectory Optimization based planner that computes references for end-effectors and joints. The references are tracked using a whole-body controller based on a hierarchical optimization approach. Our controller is capable of performing terrain adaptive whole-body control. Furthermore, it c...
