DocumentCode
1403593
Title
Generation of free gait-a graph search approach
Author
Pal, Prabir K. ; Jayarajan, K.
Author_Institution
Bhabha Atomic Res. Centre, Bombay, India
Volume
7
Issue
3
fYear
1991
fDate
6/1/1991 12:00:00 AM
Firstpage
299
Lastpage
305
Abstract
A method is presented for the generation of a free gait for the straight-line motion of a quadruped walking machine. It uses a heuristic graph search procedure based on the A * algorithm. The method essentially looks into the consequences of a move to a certain depth before actually committing to it. Deadlocks and inefficiencies are thus sensed well in advance and avoided
Keywords
graph theory; mobile robots; optimisation; search problems; free gait generation; graph search approach; heuristic; mobile robots; quadruped walking machine; straight-line motion; Character generation; Foot; Gravity; Helium; Kinematics; Leg; Legged locomotion; Logic; System recovery; Vehicles;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.88139
Filename
88139
Link To Document