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cs.RO2021
Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization
Oliwier Melon, Romeo Orsolino, David Surovik +3
To dynamically traverse challenging terrain, legged robots need to continually perceive and reason about upcoming features, adjust the locations and timings of future footfalls and…
cs.RO2020
Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations
Oliwier Melon, Mathieu Geisert, David Surovik +2
Dynamic traversal of uneven terrain is a major objective in the field of legged robotics. The most recent model predictive control approaches for these systems can generate robust…