On-line and on-board planning for quadrupedal locomotion, using practical, on-board perception. Mastalli, C.; Havoutis, I.; Winkler, A. W.; Caldwell, D.; and Semini, C. In IEEE International Conference on Practial Robot Applications, 2015.
On-line and on-board planning for quadrupedal locomotion, using practical, on-board perception [pdf]Pdf  abstract   bibtex   
We present a legged motion planning approach for quadrupedal locomotion over challenging terrain. We de- compose the problem into body action planning and footstep planning. We use a lattice representation together with a set of defined body movement primitives for computing a body action plan. The lattice representation allows us to plan versatile move ments that ensure feasibility for every possible plan. To this end, we propose a set of rules that define the footstep search regions and footstep sequence given a body action. We use Anytime Repairing A* (ARA*) search that guarantees bounded sub- optimal plans. Our main contribution is a planning approach that generates on-line versatile movements. Experimental trials demonstrate the performance of our planning approach in a set of challenging terrain conditions. The terrain information and plans are computed on-line and on-board.
@inproceedings{mastalli2015,
  author    = {Mastalli, Carlos and 
               Havoutis, Ioannis and 
               Winkler, Alexander W. and  
               Caldwell, Darwin and 
               Semini, Claudio},
  booktitle = {IEEE International Conference on Practial Robot Applications},
  title     = {On-line and on-board planning for quadrupedal locomotion, 
               using practical, on-board perception},
  year      = {2015},
  abstract  = {We present a legged motion planning approach
               for quadrupedal locomotion over challenging terrain. We de-
               compose the problem into body action planning and footstep
               planning. We use a lattice representation together with a set of
               defined body movement primitives for computing a body action
               plan. The lattice representation allows us to plan versatile 
               move ments that ensure feasibility for every possible plan. To
               this end, we propose a set of rules that define the footstep 
               search regions and footstep sequence given a body action. We use
               Anytime Repairing A* (ARA*) search that guarantees bounded sub-
               optimal plans. Our main contribution is a planning approach
               that generates on-line versatile movements. Experimental trials
               demonstrate the performance of our planning approach in a
               set of challenging terrain conditions. The terrain information
               and plans are computed on-line and on-board.},
  url_pdf   = {mypdfs/15-tepra-mastalli.pdf},
}
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