Learning to steer a locomotion contact planner
Jason Chemin Pierre Fernbach Daeun Song Guilhem Saurel Nicolas Mansard Steve Tonneau Jason Chemin Pierre Fernbach Daeun Song Guilhem Saurel Nicolas Mansard Steve Tonneau
The combinatorics inherent to the issue of planning legged locomotion can be addressed by decomposing the problem: first, select a guide path abstracting the contacts with a heuristic model; then compute the contact sequence to balance the robot gait along the guide path. While several models have been proposed to compute such a path, none have yet managed to efficiently capture the complexity of ...