High-level Motion Planning for CPG-driven Modular Robots

Kód výsledku v 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>

Nalezeny alternativní kódy

RIV/68407700:21730/15:00231075

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

High-level Motion Planning for CPG-driven Modular Robots

Popis výsledku v původním jazyce

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

Název v anglickém jazyce

High-level Motion Planning for CPG-driven Modular Robots

Popis výsledku anglicky

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

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

—

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2015

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Robotics and Autonomous Systems

ISSN

0921-8890

e-ISSN

—

Svazek periodika

68

Číslo periodika v rámci svazku

68

Stát vydavatele periodika

NL - Nizozemsko

Počet stran výsledku

13

Strana od-do

116-128

Kód UT WoS článku

000352669500010

EID výsledku v databázi Scopus

2-s2.0-84925355541