Legged Motion Planning in Complex Three-Dimensional Environments

Motion Planning for Legged Robots

Slide 0 In this talk, we present a general trajectory generation scheme for a class of " kinematic " legged robots. The method does not depend upon the number of legs, nor is it based on foot placement concepts. Instead, our method is based on an extension of a nonlinear trajectory generation algorithm for smooth systems to the legged case, where the relevant mechanics are not smooth. Our exten...

Motion Planning of Legged Robots

We study the problem of computing the free space F of a simple legged robot called the spider robot. The body of this robot is a single point and the legs are attached to the body. The robot is subject to two constraints: each leg has a maximal extension R (accessibility constraint) and the body of the robot must lie above the convex hull of its feet (stability constraint). Moreover, the robot ...

Motion Planning for Legged Robots∗

Kinematic models of legged robots are stratified, i.e. the equations of motion differ on different strata. An improved version of the motion planning algorithm proposed in the literature is compared with two alternative solutions via the example of the six-legged (hexapod) robot. The first alternative uses explicit integration of the vector fields while the second one exploits the flatness of a...

Fast, three-dimensional, collision-free motion planning

Issues dealing with fast, 3-D, collision-free motion planning are discussed, and a fast path planning system under developnlent at NBS i s described. The components of a general motion planner are outlined, and some of their computational aspects are discussed. It is argued that an octree representation of the obstacles in the world leads to fast path planning algorithms. The system we are deve...

Motion Planning for Kinematic Legged Robots