Motion Planning of Legged Robots

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...

Motion 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...

Motion Planning for Kinematic Legged Robots

A template candidate for miniature legged robots in quasi-static motion

The paper introduces the Switching Four-bar Mechanism (sfm), a new low-dimensional kinematic abstraction forminiature legged robots, aimed at quasi-static motion planning in the horizontal plane. The model comprises a rigid torso and four rigid legs which engage in an alternating tetrapod gait. As the gait is executed, the torso and the legs form two switching four-bar linkages, parameterized b...

On the Connectivity of Motion Spaces for Biologically-Inspired Legged Robots

This paper discusses recent analyses of the shape of motion spaces for legged robots in quasistatic equilibrium at a given set of contacts. Two robots were examined: HRP2, a biologically inspired humanoid designed by AIST Japan, and ATHLETE, a six-legged, non-biologically inspired robot designed by NASA. Probabilistic roadmap techniques are used to compute the approximate connectivity of severa...

A Template for Miniature Legged Robots in Quasi-Static Motion

We introduce a low-dimensional kinematic abstraction—i.e., template—for miniature legged robots that can be used for quasi-static motion planning in the horizontal plane. The template comprises a rigid torso and four rigid legs which engage in an alternating tetrapod gait. As the gait is executed, the torso and the legs form two switching four-bar linkages, parameterized by the leg touchdown an...