2020
CNN-based Foothold Selection for Mechanically Adaptive Soft Foot
Jakub Bednarek, Noel Maalouf, Mathew J. Pollayil, Manolo Garabini, Manuel G. Catalano, Giorgio Grioli +1
IROS 2020poster
In this paper, we consider a problem of foothold selection for the quadrupedal robots equipped with compliant adaptive feet. Starting from a model of the foot we compute the quality of the potential footholds considering also kinematic constraints and collisions during evaluation. Since terrain asse…