Perception And Footstep Control For Bipedal Walking On Rough Terrain Brian Acosta Thesis Defense

Blind Bipedal Walking On Rough Terrain

Blind Bipedal Walking On Rough Terrain Planning these footsteps online is challenging given non convexity of the safe terrain, and imperfect perception and state estimation. this paper addresses these challenges with a full stack perception and control system for achieving underactuated walking on discontinuous terrain. Planning these footsteps online is challenging given non convexity of the safe terrain, and imperfect perception and state estimation. this paper addresses these challenges with a full stack perception and control system for achieving under actuated walking on discontinuous terrain.

Figure 1 From Bipedal Navigation Planning Over Rough Terrain Using Traversability Models ...

Figure 1 From Bipedal Navigation Planning Over Rough Terrain Using Traversability Models ... Perceptive mixed integer footstep control for underactuated bipedal walking on rough terrain by brian acosta and michael posa. in ieee transactions on robotics (t ro), 2025. Planning these footsteps online is challenging given the nonconvexity of the safe terrain and imperfect perception and state estimation. this article addresses these challenges with a full stack perception and control system for achieving underactuated walking on discontinuous terrain. Figure 5.13 motion tiles showing cassie ascending and descending steps, stepping over a curb onto the grass, and walking up a grassy slope in one continuous walking trial using our proposed locomotion stack and the perception pipeline proposed. We introduce a new model predictive footstep controller which jointly optimizes over the robot's discrete choice of stepping surface, impending footstep position sequence, ankle torque in the sagittal plane, and center of mass trajectory, to track a velocity command.

Fast Online Optimization For Terrain-Blind Bipedal Robot Walking With A Decoupled Actuated SLIP ...

Fast Online Optimization For Terrain-Blind Bipedal Robot Walking With A Decoupled Actuated SLIP ... Figure 5.13 motion tiles showing cassie ascending and descending steps, stepping over a curb onto the grass, and walking up a grassy slope in one continuous walking trial using our proposed locomotion stack and the perception pipeline proposed. We introduce a new model predictive footstep controller which jointly optimizes over the robot's discrete choice of stepping surface, impending footstep position sequence, ankle torque in the sagittal plane, and center of mass trajectory, to track a velocity command. Acosta, posa 2023 bipedal walking on constrained footholds with mpc footstep control free download as pdf file (.pdf), text file (.txt) or read online for free. Bipedal robots promise the ability to traverse rough terrain quickly and efficiently, and indeed, humanoid robots can now use strong ankles and careful foot pla. Brian acosta and michael posa. "perceptive mixed integer footstep control for underactuated bipedal walking on rough terrain." more. This stack allows for foot placement control of underactuated bipeds in previously unseen environments by sensing the terrain on the fly and providing a terrain representation to the walking controller.

Perception and Footstep Control for Bipedal Walking on Rough Terrain (Brian Acosta Thesis Defense)