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Free Space Representation for Biped Walking Robots (CROSBI ID 152159)

Prilog u časopisu | izvorni znanstveni rad | međunarodna recenzija

Cupec, Robert ; Schmidt, Günther Free Space Representation for Biped Walking Robots // Automatika : časopis za automatiku, mjerenje, elektroniku, računarstvo i komunikacije, 50 (2009), 1-2; 51-64

Podaci o odgovornosti

Cupec, Robert ; Schmidt, Günther

engleski

Free Space Representation for Biped Walking Robots

Motion planning for biped walking robots is a highly demanding task because of the complex kinematics of such machines and the many degrees of freedom involved. One approach to dealing with this problem is to determine a feasible path in a reduced configuration space of the robot and then to perform the motion planning by searching for an appropriate sequence of steps which allows the locomotion along this path. In this work, a novel method for creating a free space representation for biped walking robots is presented. The method rests upon the approximation of the robot by a set of 3D hulls whose shapes allow efficient determination of feasible paths in a 3D configuration space, involving stepping over obstacles and changing the walking level. The robot’ s environment is partitioned into two regions. In the first region, 2D motion planning can be performed, while the complexity of 3D motion planning in the second region can be significantly reduced by considering only a restricted set of paths sufficient for solving a wide range of locomotion tasks.

walking robots; motion planning; free space representation

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Podaci o izdanju

50 (1-2)

2009.

51-64

objavljeno

0005-1144

Povezanost rada

Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

Indeksiranost