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.

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