Myvideo

Guest

Login

Perceptive Locomotion in Rough Terrain - Online Foothold Optimization

Uploaded By: Myvideo
1 view
0
0 votes
0

Paper Abstract: Compared to wheeled vehicles, legged systems have a vast potential to traverse challenging terrain. To exploit the full potential, it is crucial to tightly integrate terrain perception for foothold planning. We present a hierarchical locomotion planner together with a foothold optimizer that finds locally optimal footholds within an elevation map. The map is generated in real-time from on-board depth sensors. We further propose a terrain-aware contact schedule to deal with actuator velocity

Share with your friends

Link:

Embed:

Video Size:

Custom size:

x

Add to Playlist:

Favorites
My Playlist
Watch Later