142 citations · 519 across the 33 of their papers we have counts for
4 papers · 1 filter
Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based Planner
Mathieu Geisert, Thomas Yates, Asil Orgen +2
Despite the great progress in quadrupedal robotics during the last decade, selecting good contacts (footholds) in highly uneven and cluttered environments still remains an open cha…
Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences
Carlos Mastalli, Ioannis Havoutis, Michele Focchi +2
Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic movem…
Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain
Alexander W. Winkler, Carlos Mastalli, Ioannis Havoutis +3
We present a framework for dynamic quadrupedal locomotion over challenging terrain, where the choice of appropriate footholds is crucial for the success of the behaviour. We build…
On-line and on-board planning and perception for quadrupedal locomotion
Carlos Mastalli, Ioannis Havoutis, Alexander W. Winkler +2
We present a legged motion planning approach for quadrupedal locomotion over challenging terrain. We decompose the problem into body action planning and footstep planning. We use a…