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Please note that this is not a complete list of this person’s publications. It includes only semantically relevant works. For a full list, please refer to Infoscience.
Legged machines have the potential to traverse terrain that wheeled robots cannot. These capabilities are useful in scenarios such as stairs in homes or debris-filled disaster scenes, such as earthquake areas. This thesis develops one of the algorithms nec ...
Abstract: We present an algorithm that generates walking motions for quadruped robots without the use of an explicit footstep planner by simultaneously optimizing over both the Center of Mass (CoM) trajectory and the footholds. Feasibility is achieved by i ...
2018
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We present a single trajectory optimization formulation for legged locomotion that automatically determines the gait sequence, step timings, footholds, swing-leg motions, and six-dimensional body motion over nonflat terrain, without any additional modules. ...