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

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