Two motion planning approaches for six-legged robot

Author

Harmati, I. ; Kiss, B. ; Lantos, B.

Author_Institution

Dept. of Control Eng. & Inf. Technol., Budapest Univ. of Econ. & Technol., Hungary

fYear

2002

fDate

9-11 Nov. 2002

Firstpage

87

Lastpage

92

Abstract

This paper concerns motion planning on a kinematic model of a six-legged robot from two distinct aspects. The system is subjected to intermittent nonholonomic constraints making the robot model stratified, which requires additional considerations in motion planning. An improved version of stratified control is compared with an approach exploiting differential flatness of a restricted subsystem. The main motivation in both cases is to lead the robot along a reference trajectory that assists in resolving the obstacle avoidance problem.

Keywords

collision avoidance; legged locomotion; path planning; position control; robot kinematics; differential flatness; intermittent nonholonomic constraints; kinematic model; motion planning; motion planning approaches; obstacle avoidance problem; reference trajectory; restricted subsystem; six-legged robot; stratified control; stratified robot model; trajectory tracking problem; Control engineering; Control systems; Kinematics; Leg; Legged locomotion; Motion planning; Orbital robotics; Robots; Switches; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on

Print_ISBN

83-7143-429-4

Type

conf

DOI

10.1109/ROMOCO.2002.1177090

Filename

1177090