Two motion planning approaches for six-legged robot
نویسندگان
چکیده
This paper concerns motion plannings on kinematic model of six-legged robot from two distinct aspect. The system is subjected to intermittent nonholonomic constraints making the robot model strati ed which requires additional considerations in motion planning. An improved version of strati ed control is compared in this paper with an approach exploiting di erential atness of a restricted subsystem. The main motivation in both cases is to lead the robot along a reference trajectory that assists resolving obstacle avoidance problem.
منابع مشابه
Motion 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...
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