Skip to content
Snippets Groups Projects
Commit 7e4d85a2 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

risbourg_corberes_2022: escape * in ^

parent b3ed416a
No related branches found
No related tags found
No related merge requests found
Pipeline #17689 passed
......@@ -2,17 +2,17 @@
title: "Real time contact planning and control of the Solo robot overunstructured environments"
subtitle: Submitted to IROS-2022
author:
- Fanny Risbourg^1*^
- Thomas Corbères^2*^
- Pierre-Alexandre Leziart^1^
- Thomas Flayols^1^
- Steve Tonneau^2^
- Nicolas Mansard^1,3^
- Fanny Risbourg ^1\*^
- Thomas Corbères ^2\*^
- Pierre-Alexandre Leziart ^1^
- Thomas Flayols ^1^
- Steve Tonneau ^2^
- Nicolas Mansard ^1,3^
org:
- ^1^ LAAS-CNRS, Université de Toulouse, France
- ^2^ School of Informatics, University of Edinburgh, UK
- ^3^ Artificial and Natural Intelligence Toulouse Institute, Toulouse, France
- ^*^ Joint first authors
- ^\*^ Joint first authors
...
## Abstract
......@@ -20,5 +20,5 @@ Quadruped robots have proved their robustness to cross complex terrain despite l
The paper presents a complete method to plan and control the locomotion of quadruped robots when 3D information about the surrounding obstacles is available, based on several stages of decision.
We first propose a contact planner formulated as a mixed-integer program, optimized on-line at each new robot step. It selects a surface from a set of convex surfaces describing the environment for the next footsteps while ensuring kinematic constraints.
We then propose to optimize the exact contact location and the feet trajectories at control frequency to avoid obstacles, thanks to an efficient formulation as quadratic programs optimizing Bezier curves.
By relying on the locomotion controller of our quadruped robot Solo, we finally implement the complete method, provided as an open-source package.
Its efficiency is asserted by statistical evaluation of the importance of each components in simulation, while the overall performances are demonstrated on various scenarios with the real robot.
\ No newline at end of file
By relying on the locomotion controller of our quadruped robot Solo, we finally implement the complete method, provided as an open-source package.
Its efficiency is asserted by statistical evaluation of the importance of each components in simulation, while the overall performances are demonstrated on various scenarios with the real robot.
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment