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Simultaneous Planning of the Path and Supports of a Walking Robot


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Título :
Simultaneous Planning of the Path and Supports of a Walking Robot
Autor :
Mollá Santamaría, Paula  
Peidro, Adrian  
Gil, Arturo
Reinoso, Oscar  
Paya, Luis  
Editor :
INSTICC - Institute for Systems and Technologies of Information, Control and Communication
Departamento:
Departamentos de la UMH::Ingeniería de Sistemas y Automática
Fecha de publicación:
2023-11
URI :
https://hdl.handle.net/11000/31591
Resumen :
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
Palabras clave/Materias:
Path Planning
Support Planning
Stability, Non-Coplanar Contacts
Walking Robot
Área de conocimiento :
CDU: Ciencias aplicadas: Ingeniería. Tecnología
Tipo documento :
application/pdf
Derechos de acceso:
info:eu-repo/semantics/openAccess
Attribution-NonCommercial-NoDerivatives 4.0 Internacional
DOI :
https://doi.org/10.5220/0000168300003543
Aparece en las colecciones:
Artículos Ingeniería de Sistemas y Automática



Creative Commons La licencia se describe como: Atribución-NonComercial-NoDerivada 4.0 Internacional.