123 citations · 123 across the 1 of their papers we have counts for
2 papers
cs.RO2019★ 123 cited
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization
Bernardo Aceituno-Cabezas, Carlos Mastalli, Hongkai Dai +7
Traditional motion planning approaches for multi-legged locomotion divide the problem into several stages, such as contact search and trajectory generation. However, reasoning abou…
cs.RO2019
STANCE: Locomotion Adaptation over Soft Terrain
Shamel Fahmi, Michele Focchi, Andreea Radulescu +3
Whole-body Control (WBC) has emerged as an important framework in locomotion control for legged robots. However, most of WBC frameworks fail to generalize beyond rigid terrains. Le…