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A comparison of search-based planners for a legged robot
Örebro universitet, Institutionen för naturvetenskap och teknik. (Mobile Robotics & Olfaction, AASS Research Center)ORCID-id: 0000-0002-5973-7424
Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy.
Department of Advanced Robotics,Istituto Italiano di Tecnologia, Genova, Italy.
Eidgenössische Technische Hochschule Zürich (ETH), Zurich, Schweiz. (Agile & Dexterous Robotics Lab)
Vise andre og tillknytning
2013 (engelsk)Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

Path planning for multi-DoF legged robots is achallenging task due to the high dimensionality and complexityof the planning space. We present our first attempt to builda path planning framework for the hydraulic quadruped -HyQ. Our approach adopts a similar strategy to [1], whereplanning is divided into a task-space and a joint-space part.The task-space planner finds a path for the center of gravity(COG) of the robot, while then the footstep planner generates theappropriate footholds under reachability and stability criteria.Next the joint-space planner translates the task-space COGtrajectories into robot joint angles. We present a comparisonof a set of search-based planning algorithms; Dijkstra, A* andARA*, and evaluate these over a set of given terrains and anumber of varying start and end points. All test runs supportthat our approach is a simple yet robust solution. We reportcomparisons in path length, computation time, and path cost,between the aforementioned planning algorithms.

sted, utgiver, år, opplag, sider
IEEE, 2013. s. 104-109
Emneord [en]
Quadruped Locomotion, Path Planning, Search Algorithms
HSV kategori
Forskningsprogram
Datavetenskap
Identifikatorer
URN: urn:nbn:se:oru:diva-30823DOI: 10.1109/RoMoCo.2013.6614593ISI: 000335775300019Scopus ID: 2-s2.0-84887302523ISBN: 978-1-4673-5511-7 (digital)OAI: oai:DiVA.org:oru-30823DiVA, id: diva2:648583
Konferanse
9th International Workshop on Robot Motion and Control (RoMoCo), Wasowo, Poland, July 3-5, 2013
Tilgjengelig fra: 2013-09-16 Laget: 2013-09-16 Sist oppdatert: 2018-05-21bibliografisk kontrollert

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