Motion Planning for Kinematic Legged Robots
نویسندگان
چکیده
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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