LSTP: Long Short-Term Motion Planning for Legged and Legged-Wheeled Systems

This video is part of the supplementary material of the publication "LSTP: Long Short-Term Motion Planning for Legged and Legged-Wheeled Systems", accepted to IEEE Transaction on Robotics, 2023.
This article presents a hybrid motion planning and control approach applicable to various ground robot types and morphologies. Our two-step approach uses a sampling-based planner to compute an approximate motion which is then fed to numerical optimization for refinement.
We present tasks of traversing challenging terrain that requires discovering a contact schedule,
navigating non-convex obstacles, and coordinating many degrees of freedom. Our hybrid planner has been applied to three different robots: a quadruped, a wheeled quadruped, and a legged excavator. We validate our hybrid locomotion planner in the real world and simulation, generating behaviors we could not achieve with previous methods.
Authors: Edo Jelavic*, Kaixian Qu*, Farbod Farshidian and Marco Hutter
* - equal contribution
You can find the paper on ETH research collection:
www.research-c...

[@hamidhussain5488]

Wonderful job done

[@SHAINON117]

Very smart 💪💓

[@perfrivik9932]

You guys are so good its crazy 🤩

[@masterben4533]

Incredible! If i had the money i'd buy one..put it to work and retire haha! Imagine if they had this in the middle ages , to build walls for invasions on their castles.. Would have reshaped the world we live in today ! Hah