Holonomic and Nonholonomic Stratified Motion Planning along Decomposed Trajectory for Walking Robots

This paper addresses new algorithms for motion planning of walking robots if they are given by stratified holonomic and nonholonomic kinematic models. The mathematical details for general stratified systems are investigated in [1], [2], [3], [4]. The main motivation of our concept is to complete motion planning algorithms that are able to avoid obstacles in the configuration space of walking robots. The proposed methods achieve this goal by leading the robot along a decomposed reference trajectory. Although the reference trajectory should still be restricted, it can be used to obstacle avoidance. The algorithms are demonstrated on an illustrative example of the hexapod robot.