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.

background

/pdf/continuous-legged-locomotion-planning-4yvh6i4zp2.pdf

Motion planning algorithms for stratified kinematic systems with application to the hexapod robot

Continuous Legged Locomotion Planning

This paper concerns motion planning on a kinematic model of a six-legged robot from two distinct aspects. The system is subjected to intermittent nonholonomic constraints making the robot model stratified, which requires additional considerations in motion planning. An improved version of stratified control is compared with an approach exploiting differential flatness of a restricted subsystem. The main motivation in both cases is to lead the robot along a reference trajectory that assists in resolving the obstacle avoidance problem.

Two motion planning approaches for six-legged robot

Legged locomotion planning can often be reduced to the search of finite sequences of contacts between the robot and the ground. We address this problem, using an original, continuous approach. We first demonstrate how this intrinsically discrete problem can be made continuous, and then present two applications: an experiment of vision-based reactive footstep planning with the DLR-Biped robot, and a simulation of non-gaited locomotion planning with a hexapod robot.

https://hal.archives-ouvertes.fr/hal-00805981/document

Motion planning algorithms for stratified kinematic systems with application to the hexapod robot

Citations

Continuous Legged Locomotion Planning

Two motion planning approaches for six-legged robot

A Continuous Approach to Legged Locomotion Planning

Related Papers (5)

Designing and Implementing Trajectory Planning and Inverse Kinematics Algorithms using Hexapod Robot Platform

Computer aided modeling and analysis of turning motion of hexapod robot on varying terrains

Modeling and Simulation of Wave Gait of a Hexapod Walking Robot: A CAD/CAE Approach

Kinematic modeling and control of the Hexapod parallel robot

Planning a trajectory of a 6-DOF parallel robot «HEXA»