• DocumentCode
    1399702
  • Title

    Motion planning of walking robots using ordinal optimization

  • Author

    Chen, Chun-Hung ; Kumar, Vijay ; Luo, Yuh-chun

  • Author_Institution
    Pennsylvania Univ., Philadelphia, PA, USA
  • Volume
    5
  • Issue
    2
  • fYear
    1998
  • fDate
    6/1/1998 12:00:00 AM
  • Firstpage
    22
  • Lastpage
    32
  • Abstract
    A general approach for coordinating the legs of a multi-legged statically stable walking machine on an uneven terrain. The method of ordinal optimization is used to find a good motion plan for low travel time that specifies the footholds and the gait of the walking machine. Numerical simulations illustrate the approach and demonstrate that we can find a good motion plan for uneven terrain with high complexity in a reasonably short time.
  • Keywords
    legged locomotion; optimisation; path planning; robot dynamics; search problems; footholds; gait; motion planning; multi-legged statically stable walking machine; ordinal optimization; uneven terrain; walking robots; Azimuth; Biological system modeling; Biological systems; Insects; Leg; Legged locomotion; Motion planning; Navigation; Robot kinematics; Robot sensing systems;
  • fLanguage
    English
  • Journal_Title
    Robotics & Automation Magazine, IEEE
  • Publisher
    ieee
  • ISSN
    1070-9932
  • Type

    jour

  • DOI
    10.1109/100.692337
  • Filename
    692337
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1399702