TY - GEN
T1 - A combined potential function and graph search approach for free gait generation of quadruped robots
AU - Geva, Yam
AU - Shapiro, Amir
PY - 2012/1/1
Y1 - 2012/1/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84864419551&partnerID=8YFLogxK
U2 - https://doi.org/10.1109/ICRA.2012.6224670
DO - https://doi.org/10.1109/ICRA.2012.6224670
M3 - Conference contribution
SN - 9781467314039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5371
EP - 5376
BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Y2 - 14 May 2012 through 18 May 2012
ER -