Learning, planning, and control for quadruped locomotion over challenging terrain

International Journal of Robotics Research

Volumn 30, Issue 2, 2011, Pages 236-258

  Kalakrishnan, Mrinal ^a   Buchli, Jonas ^a   Pastor, Peter ^a   Mistry, Michael ^b   Schaal, Stefan ^a  

^a UNIVERSITY OF SOUTHERN CALIFORNIA   (United States)

^b DISNEY RESEARCH   (United States)

Author keywords

floating base inverse dynamics; locomotion planning and control; Quadruped locomotion; template learning; ZMP optimization

Indexed keywords

INVERSE DYNAMICS; LOCOMOTION PLANNING; QUADRUPED LOCOMOTION; TEMPLATE LEARNING; ZMP OPTIMIZATION;

ABILITY TESTING; BIPED LOCOMOTION; CONTROL SYSTEM STABILITY; LANDFORMS; OPTIMIZATION; ROBOTS; STABILITY CRITERIA;

CONTROLLERS;

EID: 79251552855     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364910388677     Document Type: Article

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