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dc.contributor.authorMollá Santamaría, Paula-
dc.contributor.authorPeidro, Adrian-
dc.contributor.authorGil, Arturo-
dc.contributor.authorReinoso, Oscar-
dc.contributor.authorPaya, Luis-
dc.contributor.otherDepartamentos de la UMH::Ingeniería de Sistemas y Automáticaes_ES
dc.date.accessioned2024-02-28T12:08:47Z-
dc.date.available2024-02-28T12:08:47Z-
dc.date.created2023-11-
dc.identifier.isbn978-989-758-670-5-
dc.identifier.issn2184-2809-
dc.identifier.urihttps://hdl.handle.net/11000/31591-
dc.description.abstractIn 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 obtainedes_ES
dc.formatapplication/pdfes_ES
dc.format.extent29es_ES
dc.language.isoenges_ES
dc.publisherINSTICC - Institute for Systems and Technologies of Information, Control and Communicationes_ES
dc.relation.ispartofProceedings of the 20th International Conference on Informatics in Control, Automation and Robotics Volume 1es_ES
dc.rightsinfo:eu-repo/semantics/openAccesses_ES
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internacional*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectPath Planninges_ES
dc.subjectSupport Planninges_ES
dc.subjectStability, Non-Coplanar Contactses_ES
dc.subjectWalking Robotes_ES
dc.subject.otherCDU::6 - Ciencias aplicadas::62 - Ingeniería. Tecnologíaes_ES
dc.titleSimultaneous Planning of the Path and Supports of a Walking Robotes_ES
dc.typeinfo:eu-repo/semantics/articlees_ES
dc.relation.publisherversionhttps://doi.org/10.5220/0000168300003543es_ES
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