Optimal motion for obstacle stepping in a hybrid wheeled-legged hexapod

Author

Gomez-Bravo, Fernando ; Aznar, Mariano J. ; Carbone, Giuseppe

Author_Institution

Electron. Syst. & Mechatron. Group, Univ. of Huelva, Huelva, Spain

fYear

2014

fDate

14-15 May 2014

Firstpage

53

Lastpage

58

Abstract

This paper presents a methodology for obtaining optimal motions for the leg of a hybrid wheeled-legged hexapod. The aim of the approach is to compare motion strategies for a leg when it has to step over an obstacle. The study is numerically solved by referring to a prototype of a hexapod built at LARM in the Cassino University. The motion planning procedure is a combination of a quick random search algorithm (Rapidly Exploring Random Trees) together with an optimisation method (Genetic Algorithm).

Keywords

collision avoidance; genetic algorithms; legged locomotion; numerical analysis; robot dynamics; search problems; trees (mathematics); wheels; Cassino University; LARM; genetic algorithm; hybrid wheeled-legged hexapod leg; motion planning procedure; numerical analysis; optimal obstacle stepping motion strategies; optimisation method; random search algorithm; rapidly-exploring random trees; Collision avoidance; Joints; Legged locomotion; Planning; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Autonomous Robot Systems and Competitions (ICARSC), 2014 IEEE International Conference on

Conference_Location

Espinho

Type

conf

DOI

10.1109/ICARSC.2014.6849762

Filename

6849762