A receding-horizon multi-contact motion planner for legged robots in challenging environments скачать в хорошем качестве

A receding-horizon multi-contact motion planner for legged robots in challenging environments

Supplementary video for the article "A receding-horizon multi-contact motion planner for legged robots in challenging environments" submitted to the Robotics and Automation Systems journal. The video shows a hexapod walking in four challenging environments belonging to different classes: The Stepping Stones scenario requires the robot to walk over a ‘river’ using sparse and irregularly placed surfaces. The Wall Walking scenario features a narrow corridor that requires contacts to be formed on a vertical wall. The Chimney Walking Scenario requires a large gap to be crossed using the vertical surfaces exclusively. The Chimney Climbing scenario sees the robot vertically climb up a chimney. Our approach adds new capabilities not found in the state-of-the-art, including rapid re-planning capabilities, reduced susceptibility to contact-critical local minima, and simultaneously planning whole-body linking trajectories alongside the stance sequence.