Perceptive Locomotion in Rough Terrain - Online Foothold Optimization - Jenelten, Fabian; Miki, Takahiro; Vijayan, Aravind E; Bjelonic, Marko; Hutter, Marco (IEEE robotics and automation letters, 2020)
Keywords: Actuators; Elevation; End effectors; Foot; foothold optimization; Legged locomotion; Legged robots; Locomotion; motion control; Optimization; optimization and optimal control; perceptive locomotion; Pipelines; Robot dynamics; Robot sensing systems; Rough terrain; Schedules