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Pregled bibliografske jedinice broj: 406727

Free Space Representation for Biped Walking Robots


Cupec, Robert; Schmidt, Günther
Free Space Representation for Biped Walking Robots // Automatika : Journal for Control, Measurement, Electronics, Computing and Communications, 50 (2009), 1-2; 51-64 (međunarodna recenzija, članak, znanstveni)


Naslov
Free Space Representation for Biped Walking Robots

Autori
Cupec, Robert ; Schmidt, Günther

Izvornik
Automatika : Journal for Control, Measurement, Electronics, Computing and Communications (0005-1144) 50 (2009), 1-2; 51-64

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
walking robots; motion planning; free space representation

Sažetak
Motion planning for biped walking robots is a highly demanding task because of the complex kinematics of such machines and the many degrees of freedom involved. One approach to dealing with this problem is to determine a feasible path in a reduced configuration space of the robot and then to perform the motion planning by searching for an appropriate sequence of steps which allows the locomotion along this path. In this work, a novel method for creating a free space representation for biped walking robots is presented. The method rests upon the approximation of the robot by a set of 3D hulls whose shapes allow efficient determination of feasible paths in a 3D configuration space, involving stepping over obstacles and changing the walking level. The robot’ s environment is partitioned into two regions. In the first region, 2D motion planning can be performed, while the complexity of 3D motion planning in the second region can be significantly reduced by considering only a restricted set of paths sufficient for solving a wide range of locomotion tasks.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti



POVEZANOST RADA


Projekt / tema
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Ivan Petrović, )

Ustanove
Fakultet elektrotehnike, računarstva i informacijskih tehnologija Osijek

Profili:

Avatar Url Robert Cupec (autor)

Citiraj ovu publikaciju

Cupec, Robert; Schmidt, Günther
Free Space Representation for Biped Walking Robots // Automatika : Journal for Control, Measurement, Electronics, Computing and Communications, 50 (2009), 1-2; 51-64 (međunarodna recenzija, članak, znanstveni)
Cupec, R. & Schmidt, G. (2009) Free Space Representation for Biped Walking Robots. Automatika : Journal for Control, Measurement, Electronics, Computing and Communications, 50 (1-2), 51-64.
@article{article, year = {2009}, pages = {51-64}, keywords = {walking robots, motion planning, free space representation}, journal = {Automatika : Journal for Control, Measurement, Electronics, Computing and Communications}, volume = {50}, number = {1-2}, issn = {0005-1144}, title = {Free Space Representation for Biped Walking Robots}, keyword = {walking robots, motion planning, free space representation} }

Časopis indeksira:


  • Web of Science Core Collection (WoSCC)
    • Science Citation Index Expanded (SCI-EXP)
    • SCI-EXP, SSCI i/ili A&HCI
  • Scopus


Uključenost u ostale bibliografske baze podataka:


  • INSPEC