Reactive Locomotion Decision-Making and Robust Motion Planning for Real-Time Perturbation Recovery
2022 International Conference on Robotics and Automation (ICRA)（2022）
关键词
reactive locomotion decision-making,robust motion planning,real-time perturbation recovery,push recovery,bipedal robot locomotion,reactive decision-making,robust planning framework,locomotion resilient,external perturbations,rejecting perturbations,essential capability,bipedal robots,locomotion literature,adversarial disturbances,aggressive turning,negative lateral step width,crossed-leg scenarios,unstable motions,self-collision risks,motion planning problems,hierarchically integrated task,motion planning method,linear-temporal-logic-based reactive synthesis,leg collision avoidance constraints,high-level discrete symbolic decision-making,low-level continuous motion planning,reactive interface,locomotion process,resilient recovery,diverse perturbations
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