Motion planning of legged robots: the spider robot problem
نویسندگان
چکیده
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 (n2) and can be constructed in O(n2 logn) time and O(n2) space. Once F has been constructed, we can e ciently solve several problems related to motion planning.
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ورودعنوان ژورنال:
- Int. J. Comput. Geometry Appl.
دوره 5 شماره
صفحات -
تاریخ انتشار 1995