Please use this identifier to cite or link to this item: https://hdl.handle.net/11000/31591

Simultaneous Planning of the Path and Supports of a Walking Robot


Thumbnail

View/Open:
 12-2023_ICINCO_PlanningWalkingRobots (1).pdf

1,94 MB
Adobe PDF
Share:
Title:
Simultaneous Planning of the Path and Supports of a Walking Robot
Authors:
Mollá Santamaría, Paula  
Peidro, Adrian  
Gil, Arturo
Reinoso, Oscar  
Paya, Luis  
Editor:
INSTICC - Institute for Systems and Technologies of Information, Control and Communication
Department:
Departamentos de la UMH::Ingeniería de Sistemas y Automática
Issue Date:
2023-11
URI:
https://hdl.handle.net/11000/31591
Abstract:
In this paper we study the simultaneous planning of the path and leg supports of an eight-legged robot on uneven terrain. We use the A-star algorithm (A*), which searches for the shortest path between two points. First, the terrain is modelled with a triangular mesh and the triangles are subdivided to take the centroids of these triangles as the search space of the A*. Secondly, with respect to the original A*, the stability of the robot at each centroid is considered, so that the cost at a centroid is penalised if the robot is unstable (i.e., the robot slips and/or tips over), or the cost is zero if it is stable. The stability at each contact point is determined by calculating that the ground reaction at that point is contained in a linear approximation of the friction cone. Finally, the path, the contact points of each leg, as well as the robot's posture at each position are obtained
Keywords/Subjects:
Path Planning
Support Planning
Stability, Non-Coplanar Contacts
Walking Robot
Knowledge area:
CDU: Ciencias aplicadas: Ingeniería. Tecnología
Type of document:
application/pdf
Access rights:
info:eu-repo/semantics/openAccess
Attribution-NonCommercial-NoDerivatives 4.0 Internacional
DOI:
https://doi.org/10.5220/0000168300003543
Appears in Collections:
Artículos Ingeniería de Sistemas y Automática



Creative Commons ???jsp.display-item.text9???