Online motion planning over uneven terrain with walking primitives and regression

Sotiris Apostolopoulos, Marion Leibold, Martin Buss

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

6 Zitate (Scopus)

Abstract

This paper introduces an online motion planning algorithm and a motion generation methodology for underactuated dynamic planar walking on uneven terrain. The key idea is to utilize a database of Motion Primitives and use them as training examples in a regression methodology, which is utilized when there is no match between the terrain variation and the Motion Primitives in the database. Among the key features which enable the algorithm to be suitable for real-time purposes is the proposed best first graph search approach and the small inference time of the regression methodology, which in this paper is the Gaussian Process.

OriginalspracheEnglisch
Titel2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Herausgeber (Verlag)Institute of Electrical and Electronics Engineers Inc.
Seiten3799-3805
Seitenumfang7
ISBN (elektronisch)9781467380263
DOIs
PublikationsstatusVeröffentlicht - 8 Juni 2016
Veranstaltung2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Schweden
Dauer: 16 Mai 201621 Mai 2016

Publikationsreihe

NameProceedings - IEEE International Conference on Robotics and Automation
Band2016-June
ISSN (Print)1050-4729

Konferenz

Konferenz2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Land/GebietSchweden
OrtStockholm
Zeitraum16/05/1621/05/16

Fingerprint

Untersuchen Sie die Forschungsthemen von „Online motion planning over uneven terrain with walking primitives and regression“. Zusammen bilden sie einen einzigartigen Fingerprint.

Dieses zitieren