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Frontiers of Mechanical Engineering >> 2024, Volume 19, Issue 3 doi: 10.1007/s11465-024-0791-5
Dynamic motion of quadrupedal robots on challenging terrain: a kinodynamic optimization approach
1. Engineering Research Center of Hubei Province for Clothing Information, Wuhan 430200, China;2. School of Computer Science and Artificial Intelligence, Wuhan Textile University, Wuhan 430200, China;1. Engineering Research Center of Hubei Province for Clothing Information, Wuhan 430200, China;2. School of Computer Science and Artificial Intelligence, Wuhan Textile University, Wuhan 430200, China;3. State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China
Abstract
Keywords
quadrupedal robot ; kinodynamic planning ; nonlinear optimization ; challenging terrain ; whole-body control
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