A bi-level optimization scheme uses Cross-Entropy Method on the outer level to select terrain landing regions and gradient-based nonlinear optimization on the inner level to compute feasible rope tensions, leg forces, and motions for rope-assisted climbing robots.
Learning robust perceptive locomotion for quadrupedal robots in the wild
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Bi-Level Optimization for Contact and Motion Planning in Rope-Assisted Legged Robots
A bi-level optimization scheme uses Cross-Entropy Method on the outer level to select terrain landing regions and gradient-based nonlinear optimization on the inner level to compute feasible rope tensions, leg forces, and motions for rope-assisted climbing robots.