Motion Planning for Legged Robots∗
نویسندگان
چکیده
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 restricted subsystem.
منابع مشابه
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...
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