Caterpillar Heuristic for Gait-Free Planning With Multi-Legged Robot

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F23%3A00367865" target="_blank" >RIV/68407700:21230/23:00367865 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/LRA.2023.3293749" target="_blank" >https://doi.org/10.1109/LRA.2023.3293749</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/LRA.2023.3293749" target="_blank" >10.1109/LRA.2023.3293749</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Caterpillar Heuristic for Gait-Free Planning With Multi-Legged Robot

Popis výsledku v původním jazyce

In this letter, we address path planning for the quasi-static locomotion of a multi-legged walking robot on terrains with limited available footholds, such as passing a water stream over rocks. The task is to find a feasible sequence of steps to navigate the robot in environments where precise foot placement and order of the leg movements are necessary for successful traversal. A finite set of the considered footholds forms a state-space search domain, where states are defined by pairing the robot legs with footholds. The actions represent the connectivity of submanifolds of the robot configuration space approximating the robot's kinematic constraints indicating possible steps in a given stance. We propose a novel heuristic that significantly reduces the number of expanded states in the A* planner by avoiding local minima exhibited by commonly used heuristics. The computational requirements are nearly an order of magnitude lower than for the existing contact-driven solutions reported in the literature for similarly formulated planning problems. The viability of the proposed approach is further supported by an experimental deployment.

Název v anglickém jazyce

Caterpillar Heuristic for Gait-Free Planning With Multi-Legged Robot

Popis výsledku anglicky

In this letter, we address path planning for the quasi-static locomotion of a multi-legged walking robot on terrains with limited available footholds, such as passing a water stream over rocks. The task is to find a feasible sequence of steps to navigate the robot in environments where precise foot placement and order of the leg movements are necessary for successful traversal. A finite set of the considered footholds forms a state-space search domain, where states are defined by pairing the robot legs with footholds. The actions represent the connectivity of submanifolds of the robot configuration space approximating the robot's kinematic constraints indicating possible steps in a given stance. We propose a novel heuristic that significantly reduces the number of expanded states in the A* planner by avoiding local minima exhibited by commonly used heuristics. The computational requirements are nearly an order of magnitude lower than for the existing contact-driven solutions reported in the literature for similarly formulated planning problems. The viability of the proposed approach is further supported by an experimental deployment.

Druh

J_imp - Článek v periodiku v databázi Web of Science

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

2023

Kód důvěrnosti údajů

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

Název periodika

IEEE Robotics and Automation Letters

ISSN

2377-3766

e-ISSN

2377-3766

Svazek periodika

8

Číslo periodika v rámci svazku

8

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

8

Strana od-do

5204-5211

Kód UT WoS článku

001030616500008

EID výsledku v databázi Scopus

2-s2.0-85164734498