A Fast Integrated Gait, Footstep, and Motion Planning Framework for Wheeled-legged Robots
Renjie Li, Wei Dong, Jiarui Sun, Kun Li, Hui Dong, Yongzhuo Gao, Qijun Wu, Yi Long
Topics & Concepts
TraverseTerrainRobotMotion planningAdaptabilityKinematicsTree traversalTrajectoryGaitComputer scienceRobot locomotionQuadratic programmingController (irrigation)Task (project management)Model predictive controlControl engineeringInverse kinematicsSimulationArtificial intelligenceRobot kinematicsEngineeringControl theory (sociology)PlannerTrajectory optimizationMotion controlAdaptation (eye)Ground reaction forceRoboticsAdaptive controlHybrid systemDroneOptimal controlMotion captureMobile robotMotion (physics)Legged robotContact forceRobotic Locomotion and ControlVeterinary Orthopedics and NeurologyProsthetics and Rehabilitation Robotics