Contact Model Fusion for Event-Based Locomotion in Unstructured Terrains
As legged robots are sent into unstructured environments, the ability to robustly manage contact transitions will be a critical skill. This paper introduces an approach to probabilistically fuse contact models, managing uncertainty in terrain geometry, dynamic modeling, and kinematics to improve the...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE),
2019-02-13T14:44:05Z.
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| Subjects: | |
| Online Access: | Get fulltext |