Continuous Legged Locomotion Planning

被引：9

作者：

Perrin, Nicolas ^{[1
,2
]}

Ott, Christian ^{[3
]}

Englsberger, Johannes ^{[3
]}

Stasse, Olivier ^{[4
]}

Lamiraux, Florent ^{[4
]}

Caldwell, Darwin G. ^{[5
]}

机构：

[1] Sorbonne Univ, Univ Pierre & Marie Curie, CNRS, F-75005 Paris, France

[2] Sorbonne Univ, Univ Pierre & Marie Curie, Inst Syst Intelligents & Robot, UMR 7222, F-75005 Paris, France

[3] German Aerosp Ctr DLR, Inst Robot & Mechatron, D-82234 Wessling, Germany

[4] Univ Toulouse, CNRS, LAAS, UPS,INSA,INP,ISAE, F-31000 Toulouse, France

[5] Ist Italiano Tecnol, I-16163 Genoa, Italy

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2017年 / 33卷 / 01期

关键词：

Legged locomotion; motion planning; MOTION; SYSTEMS;

D O I：

10.1109/TRO.2016.2623329

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

While only continuous motions are possible, the way in which contacts appear and disappear confers to legged locomotion a characteristic discontinuous nature that is traditionally shared by the algorithms used for legged locomotion planning. In this paper, we show that this discontinuous nature can disappear if the notion of collision is well redefined and we efficiently solve two different practical problems of legged locomotion planning with algorithms based on an approach that establishes a bridge between discrete and continuous planning. The first problem consists of reactive footstep planning with a biped robot and the second one consists of nongaited locomotion planning with a hexapod.

引用

页码：234 / 239

页数：6

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