Dynamic Locomotion of Quadrupedal Robots over Rough Terrain

Previous works have enabled locomotion of quadrupedal robots usingthe ZMP-based motion optimization framework on flat terrain withvarious gait patterns. Locomotion over rough terrain brings in newchallenges such as planning safe footholds for the robot, ensuring kinematicstability during locomotion...

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Bibliographic Details
Main Author: Elanjimattathil Vijayan, Aravind
Format: Others
Language:English
Published: KTH, Skolan för elektroteknik och datavetenskap (EECS) 2018
Subjects:
Online Access:http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-240409