Gait-free Planning for Hexapod Walking Robot

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Gait-free Planning for Hexapod Walking Robot

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Gait-free Planning for Hexapod Walking Robot

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

<a href="/cs/project/GC21-33041J" target="_blank" >GC21-33041J: Učení plánování pohybu ve složitých úlohách</a><br>

Návaznosti

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

Rok uplatnění

2021

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of the 10th European Conference on Mobile Robots

ISBN

978-1-6654-1213-1

ISSN

—

e-ISSN

—

Počet stran výsledku

8

Strana od-do

—

Název nakladatele

IEEE

Místo vydání

Brussels

Místo konání akce

Bonn

Datum konání akce

31. 8. 2021

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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