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Step sequence planning for a biped robot by means of a cylindrical shape model and a high-resolution 2.5D map


Cupec, Robert; Aleksi, Ivan; Schmidt, Günter
Step sequence planning for a biped robot by means of a cylindrical shape model and a high-resolution 2.5D map // Robotics and autonomous systems, 59 (2011), 2; 84-100 doi:10.1016/j.robot.2010.10.007 (međunarodna recenzija, članak, znanstveni)


Naslov
Step sequence planning for a biped robot by means of a cylindrical shape model and a high-resolution 2.5D map

Autori
Cupec, Robert ; Aleksi, Ivan ; Schmidt, Günter

Izvornik
Robotics and autonomous systems (0921-8890) 59 (2011), 2; 84-100

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

Ključne riječi
Step sequence planning; biped walking robot; robot shape model; 2.5D map; A*-search; aimulation; evaluation

Sažetak
A novel step sequence planning (SSP) method for biped-walking robots is presented. The method adopts a free space representation custom-designed for efficient biped robot motion planning. The method rests upon the approximation of the robot shape by a set of 3D cylindrical solids. This feature allows efficient determination of feasible paths in a 2.5D map, comprising stepping over obstacles and stair climbing. A SSP algorithm based on A*-search is proposed which uses the advantages of the aforementioned environment representation. The efficiency of the proposed approach is evaluated by a series of simulations performed for eight walking scenarios.

Izvorni jezik
Engleski

Znanstvena područja
Računarstvo



POVEZANOST RADA


Projekt / tema
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Ivan Petrović, )
165-0361621-2000 - Distribuirano računalno upravljanje u transportu i industrijskim pogonima (Željko Hocenski, )

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb,
Fakultet elektrotehnike, računarstva i informacijskih tehnologija Osijek

Autor s matičnim brojem:
Robert Cupec, (223182)
Ivan Aleksi, (295570)

Časopis indeksira:


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


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