Optimizing contact patterns for robot locomotion via geometric mechanics
Baxi Chong,
Tianyu Wang,
Lin Bo
et al.
Abstract:Contact planning is crucial to the locomotion performance of robots: to properly self-propel forward, it is not only important to determine the sequence of internal shape changes (e.g., body bending and limb shoulder joint oscillation) but also the sequence by which contact is made and broken between the mechanism and its environment. Prior work observed that properly coupling contact patterns and shape changes allows for computationally tractable gait design and efficient gait performance. The state of the ar… Show more
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