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Integration of Riemannian Motion Policy with Whole-Body Control for Collision-Free Legged Locomotion
In this paper, we present a Riemannian Motion Policy (RMP)flow-based whole-body control framework for improved dynamic legged locomotion. RMPflow is a differential geometry-inspired algorithm for fusing multiple task-space policies (RMPs) into a conf
Externí odkaz:
http://arxiv.org/abs/2210.03713
In this paper, we present a novel Riemannian Motion Policy (RMP)flow-based whole-body control framework for improved dynamic legged locomotion. RMPflow is a differential geometry-inspired algorithm for fusing multiple task-space policies (RMPs) into
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::dfb2dbe29c12fc1c6d2f78184c927238