A hierarchical planner-plus-tracker system enables a quadruped to run on walls, clear a 1.3 m gap, and navigate discrete terrain at up to 4 m/s using a competitive generative curriculum.
Hutter,et al., Anymal-a highly mobile and dynamic quadrupedal robot, in2016 IEEE/RSJ international conference on intelligent robots and systems (IROS)(IEEE) (2016), pp
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High-speed control and navigation for quadrupedal robots on complex and discrete terrain
A hierarchical planner-plus-tracker system enables a quadruped to run on walls, clear a 1.3 m gap, and navigate discrete terrain at up to 4 m/s using a competitive generative curriculum.