High-level Motion Planning for CPG-driven Modular Robots
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F15%3A00231075" target="_blank" >RIV/68407700:21230/15:00231075 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/15:00231075
Result on the web
<a href="http://www.sciencedirect.com/science/article/pii/S0921889015000147" target="_blank" >http://www.sciencedirect.com/science/article/pii/S0921889015000147</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.robot.2015.01.006" target="_blank" >10.1016/j.robot.2015.01.006</a>
Alternative languages
Result language
angličtina
Original language name
High-level Motion Planning for CPG-driven Modular Robots
Original language description
Modular robots may become candidates for search and rescue operations or even for future space missions, as they can change their structure to adapt to terrain conditions and to better fulfill a given task. A core problem in such missions is the abilityto visit distant places in rough terrain. Traditionally, the motion of modular robots is modeled using locomotion generators that can provide various gaits, e.g. crawling or walking. However, pure locomotion generation cannot ensure that desired places in a complex environment with obstacles will in fact be reached. These cases require several locomotion generators providing motion primitives that are switched using a planning process that takes the obstacles into account. In this paper, we present a novel motion planning method for modular robots equipped with elementary motion primitives. The utilization of primitives significantly reduces the complexity of the motion planning which enables plans to be created for robots of arbitrary
Czech name
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Czech description
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Classification
Type
J<sub>x</sub> - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)
CEP classification
JC - Computer hardware and software
OECD FORD branch
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Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Robotics and Autonomous Systems
ISSN
0921-8890
e-ISSN
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Volume of the periodical
68
Issue of the periodical within the volume
68
Country of publishing house
NL - THE KINGDOM OF THE NETHERLANDS
Number of pages
13
Pages from-to
116-128
UT code for WoS article
000352669500010
EID of the result in the Scopus database
2-s2.0-84925355541