Title :
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
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;
Conference_Titel :
Autonomous Robot Systems and Competitions (ICARSC), 2014 IEEE International Conference on
Conference_Location :
Espinho
DOI :
10.1109/ICARSC.2014.6849762
