LIDAR-BASED NAVIGATION-LEVEL PATH PLANNING FOR FIELD-CAPABLE LEGGED ROBOTS

In this paper we present a navigation framework for field deployment for the hydraulically actuated quadruped, HyQ.1 Our framework uses a lidar sensor to perceive obstacles and free space around the robot and plans a path through traversable areas to given goals. A path following procedure generates velocity and angular rate commands that are sent to a locomotion controller that produces the trotting gait pattern, following the desired path to the goal.

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