Gait-free Planning for Hexapod Walking Robot
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00355326" target="_blank" >RIV/68407700:21230/21:00355326 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ECMR50962.2021.9568834" target="_blank" >https://doi.org/10.1109/ECMR50962.2021.9568834</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ECMR50962.2021.9568834" target="_blank" >10.1109/ECMR50962.2021.9568834</a>
Alternative languages
Result language
angličtina
Original language name
Gait-free Planning for Hexapod Walking Robot
Original language description
This paper presents a gait-free motion planning approach for quasi-static walking of hexapod walking robots on terrains with limited available footholds. The proposed approach avoids using a prescribed gait pattern allowing an arbitrary sequence of leg swings. Furthermore, it is allowed that some legs do not need to be placed on the terrain for an extended duration. The proposed method is based on a decomposition of the motion planning into: (i) finding a candidate sequence of stances and intermediate configurations representing plausible steps using a graph-search; and (ii) connecting the intermediate configurations by feasible paths satisfying the motion constraints of the walking robot. The individual one-step paths are determined using a Bézier curve-based parametrization that seems to be sufficient for the relatively simple paths of a single step, and the low-capacity parametrization yields natural-looking motion.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
<a href="/en/project/GC21-33041J" target="_blank" >GC21-33041J: Learning Complex Motion Planning Policies</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 10th European Conference on Mobile Robots
ISBN
978-1-6654-1213-1
ISSN
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e-ISSN
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Number of pages
8
Pages from-to
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Publisher name
IEEE
Place of publication
Brussels
Event location
Bonn
Event date
Aug 31, 2021
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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