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cs.RO2019
SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain
Steve Tonneau, Daeun Song, Pierre Fernbach +3
One of the main challenges of planning legged locomotion in complex environments is the combinatorial contact selection problem. Recent contributions propose to use integer variabl…
cs.RO2019
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…