Title :
Motion planning for spider robots
Author :
Boissonnat, J.-D. ; Devillers, O. ; Donati, L. ; Preparata, F.P.
Author_Institution :
INRIA, Valbonne, France
Abstract :
The authors consider a simple instance of the problem of planning motions of legged robots. The robot is modeled as a point where all its legs are attached, and the footholds where the robot can securely place its feet consist of a set of points in the plane. Efficient algorithms to compute stable motions in such situations are presented
Keywords :
mobile robots; path planning; stability; legged robots; motion planning; spider robots; stable motions; Computer science; Equations; Euclidean distance; Foot; Leg; Legged locomotion; Motion planning; Robots; Stability;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220116
