Naslov
An approach to environment modelling for biped walking robots

Autori
Cupec, Robert ; Schmidt, Günther

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2005 / - , 2005, 3089-3094

Skup
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2005

Mjesto i datum
Edmonton, Kanada, 02.08.2005. - 06.08.2005

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
walking robots; motion planning; free space representation

Sažetak
In this work, a novel environment representation method which facilitates path planning for biped walking robots is presented. The robot's environment is represented by a 2D map consisting of free regions, obstacle regions and feasible paths over the obstacle regions. In the free regions, standard path planning methods can be applied to plan paths around large obstacles. These paths are combined with paths over obstacle regions which include stepping over small obstacles as well as changing the walking level. Search for feasible paths rests upon the approximation of the robot by a set of hulls whose shapes allow efficient checking of the path feasibility. By considering only a restricted set of paths over obstacles, some generality is aded against better time performance.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA