Learning a Centroidal Motion Planner for Legged Locomotion
Julian Viereck Ludovic Righetti Julian Viereck Ludovic Righetti
Whole-body optimizers have been successful at automatically computing complex dynamic locomotion behaviors. However they are often limited to offline planning as they are computationally too expensive to replan with a high frequency. Simpler models are then typically used for online replanning. In this paper we present a method to generate whole body movements in real-time for locomotion tasks. Ou...