A combined potential function and graph search approach for free gait generation of quadruped robots

Yam Geva, Amir Shapiro

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper presents an algorithm for planning the foothold positions of quadruped robots on irregular terrain. The input to the algorithm is the robot kinematics, the terrain geometry, a required motion path, as well as initial posture. Our goal is to develop general algorithm that navigate quadruped robots quasi-statically over rough terrain, using an APF (Artificial Potential Field) and graph searching. The algorithm is planning a sequence set of footholds that navigates the robot along the required path with controllable motion characteristics. Simulations results demonstrate the algorithm in a planner environment.

Original languageAmerican English
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Pages5371-5376
Number of pages6
DOIs
StatePublished - 1 Jan 2012
Event2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: 14 May 201218 May 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation

Conference

Conference2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Country/TerritoryUnited States
CitySaint Paul, MN
Period14/05/1218/05/12

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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