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simmediumquadrupedmetric · varies
Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion
Description
Legged robots have the potential to traverse highly constrained environments with agile maneuvers. However, planning such motions requires solving a highly challenging optimization problem with a mixture of continuous and discrete decision variables. In this paper, we present a full pipeline based on Monte-Carlo tree search (MCTS) and whole-body trajectory optimization (TO) to perform simultaneous contact sequence and patch selection on highly challenging environments. Through extensive simulati