Motion Planning of Legged Robots : the Spider Robot
نویسنده
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 (n 2) and can be constructed in O(n 2 log n) time and O(n 2) space. Once F has been constructed, we can eeciently solve several problems related to motion planning.
منابع مشابه
Motion planning of legged robots: the spider robot problem
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 ...
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We study the problem of computing the free space F of a simple legged robot called the spider robot. The body of this robot is a single point and the legs are attached to the body. The robot is subject to two constraints: each leg has a maximal extension R (accessibility constraint) and the body of the robot must lie above the convex hull of its feet (stability constraint). Moreover, the robot ...
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