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cs.RO2024
Real-time Coupled Centroidal Motion and Footstep Planning for Biped Robots
Tara Bartlett, Ian R. Manchester
This paper presents an algorithm that finds a centroidal motion and footstep plan for a Spring-Loaded Inverted Pendulum (SLIP)-like bipedal robot model substantially faster than re…
cs.RO2024
Path-Parameterised RRTs for Underactuated Systems
Damian Abood, Ian R. Manchester
We present a sample-based motion planning algorithm specialised to a class of underactuated systems using path parameterisation. The structure this class presents under a path para…