منابع مشابه
Motion Planning of Legged Robots
We study the problem of computing the free space F of a simple legged robot called the spider robot. The body of this robot is a single point and the legs are attached to the body. The robot is subject to two constraints: each leg has a maximal extension R (accessibility constraint) and the body of the robot must lie above the convex hull of its feet (stability constraint). Moreover, the robot ...
متن کاملMotion Planning for Legged Robots
Slide 0 In this talk, we present a general trajectory generation scheme for a class of " kinematic " legged robots. The method does not depend upon the number of legs, nor is it based on foot placement concepts. Instead, our method is based on an extension of a nonlinear trajectory generation algorithm for smooth systems to the legged case, where the relevant mechanics are not smooth. Our exten...
متن کاملMotion Planning for Legged Robots∗
Kinematic models of legged robots are stratified, i.e. the equations of motion differ on different strata. An improved version of the motion planning algorithm proposed in the literature is compared with two alternative solutions via the example of the six-legged (hexapod) robot. The first alternative uses explicit integration of the vector fields while the second one exploits the flatness of a...
متن کاملMotion Planning of Legged Robots : the Spider Robot
We consider the problem of planning motions of a simple legged robot called the spider robot. The robot is modelled as a point where all its legs are attached, and the footholds where the robot can securely place its feet consist of a set of n points in the plane. We show that the space F of admissible and stable placements of such robots has size (n 2) and can be constructed in O(n 2 log n) ti...
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ژورنال
عنوان ژورنال: SIAM Journal on Computing
سال: 2000
ISSN: 0097-5397,1095-7111
DOI: 10.1137/s0097539797326289