Path followingENVIRONMENTSPurpose Path planning is a fundamental and significant issue in robotics research, especially for the legged robots, since it is the core technology for robots to complete complex tasks
2.1. The Simplification of Wheel-Legged Robot By now, most path-planning algorithms are aimed at wheeled robots, which have a fixed configuration. The security of a robot must be considered, firstly, during path planning [8,9]. The collision between the robot and an obstacle can be avoided...
for a path that minimizes changes in the robot body roll and pitch angles using the A∗algorithm for a six-wheeled robot [9]. However, both works deal with wheeled robots for which the contact points are known a priori. When dealing with tracked mobile robots, this assumption does not ...
von Stryk, O.: “Development of a Toolbox for ModelBased Real-Time Simulation and Analysis of Legged Robots - Helm, Hardt, et al.Helm, A.; Hardt, M.; Ho¨pler, R.; von Stryk, O.: "Development of a Toolbox for Model- Based Real-Time Simulation and Analysis of Legged Robots," ...
planning problem. In[11], path planning is redefied as a topology optimisation problem with the objective of minimising thermal compliance, which is characterized by a heat flow. The study in[12]delves into a geometric-based heat equation for robots, establishing a Riemannian metric tensor to ...
The dimensional optimization based on kinematic and dynamic performance indices is proven significant for improving the operational performance of parallel robots. As the pose-dependent performances vary with the dimensional parameters, there are still m
The most recent paradigms for adopting robotic technologies in applications emphasize the role of collaboration between robots and humans. Since collaboration implies sharing a common environment, safety concerns immediately become relevant. In industrial contexts, these have been addressed through the introdu...
@inproceedings{alvarez2025realtime, title={Real-Time Whole-Body Control of Legged Robots with Model-Predictive Path Integral Control}, author={Alvarez-Padilla, Juan and Zhang, John Z. and Kwok, Sofia and Dolan, John M. and Manchester, Zachary}, url = {https://arxiv.org/abs/2409.10469}, ...
This repository is an open-sourced code for the following paper presented at the 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Title: Integrating Model-Based Footstep Planning with Model-Free Reinforcement Learning for Dynamic Legged Locomotion ...
Fig. 5. Planning a path to the ball on a Sony Four-legged Robot League field. The dark lines show the generated search tree. The chosen path is drawn bright A Behavior Architecture for Autonomous Mobile Robots 129 The path planner is integrated in such a way that it may be used by ...