2022
Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots
Luca Clemente, Octavio Villarreal, Angelo Bratta, Michele Focchi, Victor Barasuol, Giovanni Gerardo Muscolo +1
ICRA 2022poster
To traverse complex scenarios reliably a legged robot needs to move its base aided by the ground reaction forces, which can only be generated by the legs that are momentarily in contact with the ground. A proper selection of footholds is crucial for maintaining balance. In this paper, we propose a f…