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Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion

EasyChair Preprint no. 8987

3 pagesDate: October 4, 2022


This extended abstract provides a short introduction on our recently developed perception-based controller for quadrupedal locomotion. Compared to our previous approach based on Visual Foothold Adaptation (VFA) and Model Predictive Control (MPC) \cite{b1}, our new framework combines a fast approximation of the safe foothold regions based on Neural Network regression, followed by a convex decomposition routine in order to generate safe landing areas where the controller can freely optimize the footholds location. The aforementioned framework, which combines prediction, convex decomposition, and MPC solution, is tested in simulation on our 140kg hydraulic quadruped robot (HyQReal).

Keyphrases: learning, Optimization, quadruped robot

BibTeX entry
BibTeX does not have the right entry for preprints. This is a hack for producing the correct reference:
  author = {Shafeef Omar and Lorenzo Amatucci and Giulio Turrisi and Victor Barasuol and Claudio Semini},
  title = {Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion},
  howpublished = {EasyChair Preprint no. 8987},

  year = {EasyChair, 2022}}
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