Motion Planning for Multi-legged Robots using Levenberg-Marquardt Optimization with Bezier Parametrization
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F23%3A00372382" target="_blank" >RIV/68407700:21230/23:00372382 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ECMR59166.2023.10256284" target="_blank" >https://doi.org/10.1109/ECMR59166.2023.10256284</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ECMR59166.2023.10256284" target="_blank" >10.1109/ECMR59166.2023.10256284</a>
Alternative languages
Result language
angličtina
Original language name
Motion Planning for Multi-legged Robots using Levenberg-Marquardt Optimization with Bezier Parametrization
Original language description
This paper presents a novel formulation of motion planning for multi-legged walking robots. In the proposed method, a single-step motion is formulated as a nonlinear equation problem (NLE): including kinematic, stability, and collision constraints. For the given start and goal configurations, the robot's path is parametrized as Bezier curve in the configuration space. The resulting NLE is solved using Levenberg-Marquardt optimization implemented using a sparse matrix solver. We propose handling the trigonometric kinematic constraints with the polynomial path parametrization. A relaxation of the constraint is used while guaranteeing a desired tolerance along the planned path. Although the proposed method does not explicitly optimize any criterion, it produces high-quality paths. The method is deployed in transforming a sequence of discrete configurations produced by a step sequence planner into a valid path for a multi-legged walking robot in challenging planning scenarios where a regular locomotion gait cannot be used because of sparse footholds.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
—
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
2023
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 11th European Conference on Mobile Robots
ISBN
979-8-3503-0704-7
ISSN
2639-7919
e-ISSN
—
Number of pages
5
Pages from-to
344-348
Publisher name
Institute of Electrical and Electronics Engineers
Place of publication
Brighton
Event location
Coimbra
Event date
Sep 4, 2023
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
001082260500051