Presentation video of our latest work, "Risk-Aware Motion Planning for a Limbed Robot with Stochastic Gripping Forces Using Nonlinear Programming", accepted for RA-L and IROS 2020, is now on YouTube!
Our new motion planner is able to generate various trajectories for multi-limbed robots under stochastic gripping forces with probabilistic guarantees.
Please take a look! It'd be appreciated if you give me any comments and feedback.
Keywords: Motion planning, legged robots, chance-constraints, Gaussian process, nonlinear programming, spine-grippers.