2 papers
cs.RO2022
Whole-Body MPC and Dynamic Occlusion Avoidance: A Maximum Likelihood Visibility Approach
Ibrahim Ibrahim, Farbod Farshidian, Jan Preisig +3
This paper introduces a novel approach for whole-body motion planning and dynamic occlusion avoidance. The proposed approach reformulates the visibility constraint as a likelihood…
cs.RO2021
Optimization-Based Quadrupedal Hybrid Wheeled-Legged Locomotion
Italo Belli, Matteo Parigi Polverini, Arturo Laurenzi +3
Hybrid wheeled-legged locomotion is a navigation paradigm only recently opened up by novel robotic designs,e.g. the centaur-type humanoid CENTAURO [1] or the quadruped ANYmal [2] i…