ANYmal is an autonomous quadrupedal robot for operation in challenging environments. It can analyze its environment continuously to create maps and plan its navigation path. This video shows a Perception-less Terrain Adaptation approach with whole body control combined with hierarchical optimization.
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Perception-less Terrain Adaptation through Whole Body Control and Hierarchical Optimization
Locomotion is dealt with as multiple tasks and solved using QP solvers. Without specific motion planning, the robot adapts to the terrain while walking.
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