Variable Configuration Planner for Legged-Rolling Obstacle Negotiation Locomotion: Application on the CENTAURO Robot
| Autor: | Darwin G. Caldwell, Nikos G. Tsagarakis, Dimitrios Kanoulas, Arturo Laurenzi, Vignesh Sushrutha Raghavan |
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| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Traverse Computer science Motion (geometry) 02 engineering and technology Space (mathematics) Planner Computer Science::Robotics Variable (computer science) 020901 industrial engineering & automation Polygon 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing computer Simulation ComputingMethodologies_COMPUTERGRAPHICS computer.programming_language |
| Zdroj: | IROS |
| DOI: | 10.1109/iros40897.2019.8968014 |
| Popis: | Hybrid legged-wheeled robots are able to adapt their leg configuration and height to vary their footprint polygons and go over obstacles or traverse narrow spaces. In this paper, we present a variable configuration wheeled motion planner based on the A* algorithm. It takes advantage of the agility of hybrid wheeled-legged robots and plans paths over low-lying obstacles and in narrow spaces. By imposing a symmetry on the robot polygon, the computed plans lie in a low-dimensional search space that provides the robot with configurations to safely negotiate obstacles by expanding or shrinking its footprint polygon. The introduced autonomous planner is demonstrated using simulations and real-world experiments with the CENTAURO robot. |
| Databáze: | OpenAIRE |
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