000233579 001__ 233579
000233579 005__ 20180913064631.0
000233579 037__ $$aCONF
000233579 245__ $$aTrajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion
000233579 269__ $$a2017
000233579 260__ $$bIEEE$$c2017
000233579 336__ $$aConference Papers
000233579 520__ $$aWe present a trajectory optimization framework for legged locomotion on rough terrain. We jointly optimize the center of mass motion and the foothold locations, while considering terrain conditions. We use a terrain costmap to quantify the desirability of a foothold location. We increase the gait's adaptability to the terrain by optimizing the step phase duration and modulating the trunk attitude, resulting in motions with guaranteed stability. We show that the combination of parametric models, stochastic-based exploration and receding horizon planning allows us to handle the many local minima associated with different terrain conditions and walking patterns. This combination delivers robust motion plans without the need for warm-starting. Moreover, we use soft-constraints to allow for increased flexibility when searching in the cost landscape of our problem. We showcase the performance of our trajectory optimization framework on multiple terrain conditions and validate our method in realistic simulation scenarios and experimental trials on a hydraulic, torque controlled quadruped robot.
000233579 700__ $$aMastalli, C.
000233579 700__ $$aFocchi, M.
000233579 700__ $$aHavoutis, I.
000233579 700__ $$aRadulescu, A.
000233579 700__ $$aCalinon, S.
000233579 700__ $$aBuchli, J.
000233579 700__ $$aCaldwell, D. G.
000233579 700__ $$aSemini, C.
000233579 7112_ $$aProc. IEEE Intl Conf. on Robotics and Automation (ICRA)$$cSingapore
000233579 8564_ $$uhttp://www.icra2017.org/$$zURL
000233579 8564_ $$s4455544$$uhttps://infoscience.epfl.ch/record/233579/files/Mastalli_ICRA_2017.pdf$$yn/a$$zn/a
000233579 909C0 $$0252189$$pLIDIAP$$xU10381
000233579 909CO $$ooai:infoscience.tind.io:233579$$pconf$$pSTI
000233579 937__ $$aEPFL-CONF-233579
000233579 970__ $$aMastalli_ICRA_2017/LIDIAP
000233579 980__ $$aCONF