Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots
Edo Jelavic Farbod Farshidian Marco Hutter Edo Jelavic Farbod Farshidian Marco Hutter
Planning for legged-wheeled machines is typically done using trajectory optimization because of many degrees of freedom, thus rendering legged-wheeled planners prone to falling prey to bad local minima. We present a combined sampling and optimization-based planning approach that can cope with challenging terrain. The sampling-based stage computes whole-body configurations and contact schedule, whi...