— Although there has been an increasing interest in dynamic bipedal locomotion for significant improvement of energy efficiency and dexterity of mobile robots in the real world...
— In this video, we demonstrate the effectiveness of a kinodynamic planning strategy that allows a high-impedance quadruped to operate across a variety of rough terrain. At one e...
We present an algorithm for the independent set problem on semi-random graphs, which are generated as follows: An adversary chooses an n-vertex graph, and then each edge is flipp...
Abstract— To autonomously navigate on rough terrain is a challenging problem for mobile robots, requiring the ability to decide whether parts of the environment can be traversed ...
— 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 t...
Matthew Zucker, James A. Bagnell, Christopher G. A...