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Free Space Representation for Biped Walking Robots

Robert Cupec
Günther Schmidt

Puni tekst: engleski, pdf (327 KB) str. 51-64 preuzimanja: 344* citiraj
APA 6th Edition
Cupec, R. i Schmidt, G. (2009). Free Space Representation for Biped Walking Robots. Automatika, 50 (1-2), 51-64. Preuzeto s https://hrcak.srce.hr/37889
MLA 8th Edition
Cupec, Robert i Günther Schmidt. "Free Space Representation for Biped Walking Robots." Automatika, vol. 50, br. 1-2, 2009, str. 51-64. https://hrcak.srce.hr/37889. Citirano 03.12.2021.
Chicago 17th Edition
Cupec, Robert i Günther Schmidt. "Free Space Representation for Biped Walking Robots." Automatika 50, br. 1-2 (2009): 51-64. https://hrcak.srce.hr/37889
Harvard
Cupec, R., i Schmidt, G. (2009). 'Free Space Representation for Biped Walking Robots', Automatika, 50(1-2), str. 51-64. Preuzeto s: https://hrcak.srce.hr/37889 (Datum pristupa: 03.12.2021.)
Vancouver
Cupec R, Schmidt G. Free Space Representation for Biped Walking Robots. Automatika [Internet]. 2009 [pristupljeno 03.12.2021.];50(1-2):51-64. Dostupno na: https://hrcak.srce.hr/37889
IEEE
R. Cupec i G. Schmidt, "Free Space Representation for Biped Walking Robots", Automatika, vol.50, br. 1-2, str. 51-64, 2009. [Online]. Dostupno na: https://hrcak.srce.hr/37889. [Citirano: 03.12.2021.]

Sažetak
Motion planning for biped walking robots is a highly demanding task because of the complex kinematics of such machines and the many degrees of freedom involved. One approach to dealing with this problem is to determine a feasible path in a reduced configuration space of the robot and then to perform the motion planning by searching for an appropriate sequence of steps which allows the locomotion along this path. In this work, a novel method for creating a free space representation for biped walking robots is presented. The method rests upon the approximation of the robot by a set of 3D hulls whose shapes allow efficient determination of feasible paths in a 3D configuration space, involving stepping over obstacles and changing the walking level. The robot’s environment is partitioned into two regions. In the first region, 2D motion planning can be performed, while the complexity of 3D motion planning in the second region can be significantly reduced by considering only a restricted set of paths sufficient for solving a wide range of locomotion tasks.

Ključne riječi
Walking robots; Motion planning; Free space representation

Hrčak ID: 37889

URI
https://hrcak.srce.hr/37889

[hrvatski]

Posjeta: 741 *