crta
Hrvatska znanstvena Sekcija img
bibliografija
3 gif
 Naslovna
 O projektu
 FAQ
 Kontakt
4 gif
Pregledavanje radova
Jednostavno pretraživanje
Napredno pretraživanje
Skupni podaci
Upis novih radova
Upute
Ispravci prijavljenih radova
Ostale bibliografije
Slični projekti
 Bibliografske baze podataka

Pregled bibliografske jedinice broj: 493697

Časopis

Autori: Cupec, Robert; Aleksi, Ivan; Schmidt, Günter
Naslov: Step sequence planning for a biped robot by means of a cylindrical shape model and a high-resolution 2.5D map
( Step sequence planning for a biped robot by means of a cylindrical shape model and a high-resolution 2.5D map )
Izvornik: Robotics and autonomous systems (0921-8890) 59 (2011), 2; 84-100
Vrsta rada: članak
Ključne riječi: step sequence planning; biped walking robot; robot shape model; 2.5D map; A*-search; aimulation; evaluation
( step sequence planning; biped walking robot; robot shape model; 2.5D map; A*-search; aimulation; evaluation )
Sažetak:
A novel step sequence planning (SSP) method for biped-walking robots is presented. The method adopts a free space representation custom-designed for efficient biped robot motion planning. The method rests upon the approximation of the robot shape by a set of 3D cylindrical solids. This feature allows efficient determination of feasible paths in a 2.5D map, comprising stepping over obstacles and stair climbing. A SSP algorithm based on A*-search is proposed which uses the advantages of the aforementioned environment representation. The efficiency of the proposed approach is evaluated by a series of simulations performed for eight walking scenarios.
Projekt / tema: 165-0361621-2000, 036-0363078-3018
Izvorni jezik: eng
Rad je indeksiran u
bazama podataka:
Current Contents Connect (CCC)
Scopus
SCI-EXP, SSCI i/ili A&HCI
Science Citation Index Expanded (SCI-EXP) (sastavni dio Web of Science Core Collectiona)
Kategorija: Znanstveni
Znanstvena područja:
Računarstvo
URL Internet adrese: http://dx.doi.org/10.1016/j.robot.2010.10.007
http://www.sciencedirect.com/science?_ob=MImg&_imagekey=B6V16-51FGT28-1-P&_cdi=5666&_user=3875467&_pii=S0921889010001855&_origin=&_coverDate=02%2F28%2F2011&_sk=999409997&view=c&wchp=dGLbVzz-zSkzV&md5=9fec4be703f6eccec03a9c8e3d5f1678&ie=/sdarticle.pdf
Broj citata:
Altmetric:
DOI: 10.1016/j.robot.2010.10.007
URL cjelovitog teksta:
Google Scholar: Step sequence planning for a biped robot by means of a cylindrical shape model and a high-resolution 2.5D map
Upisao u CROSBI: ialeksi@etfos.hr (ialeksi@etfos.hr), 6. Pro. 2010. u 01:36 sati



  Verzija za printanje   za tiskati


upomoc
foot_4