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This is a research question, not a software problem.

Current approaches include hard-coded joint trajectories, parameterized Cartesian splines, deep reinforcement learning, ...

Also you have to address the localization of your whole robot because stepping actions introduce noise and you end up not knowing where your robot is.

MoveIt does not give you an action than can directly move the base of the robot to a target point by moving the legs. If you write one that works in the real world, you will receive a PhD in the field, I guess.