We present a novel approach to legged locomotion over rough terrain that is thoroughly rooted in optimization. This approach relies on a hierarchy of fast, anytime algorithms to p...
Matthew Zucker, Nathan D. Ratliff, Martin Stolle, ...
— A novel criterion is introduced for assessing the diversity of a collection of paths or trajectories. The main idea is the notion of survivability, which measures the likelihoo...
As agent systems are solving more and more complex tasks in increasingly challenging domains, the systems themselves are becoming more complex too, often compromising their adapti...
— For humanoid robots to fully realize their biped potential in a three-dimensional world and step over, around or onto obstacles such as stairs, appropriate and efficient appro...
Philipp Michel, Joel E. Chestnutt, Satoshi Kagami,...
— This paper presents a general approach to specify and execute complex robot tasks considering uncertain environments. Robot tasks are defined by a precise definition of socal...