Hybrid Sampling/Optimization-based Planning for Agile Jumping Robots on Challenging Terrains
Yanran Ding Mengchao Zhang Chuanzheng Li Hae-Won Park Kris Hauser Yanran Ding Mengchao Zhang Chuanzheng Li Hae-Won Park Kris Hauser
This paper proposes a hybrid planning framework that generates complex dynamic motion plans for jumping legged robots to traverse challenging terrains. By employing a motion primitive, the original problem is decoupled as path planning followed by a trajectory optimization (TO) module that handles dynamics. A variant of a kinodynamic Rapidly-exploring Random Trees (RRT) planner finds a path as a p...