Title :
Generation of free gait-a graph search approach
Author :
Pal, Prabir K. ; Jayarajan, K.
Author_Institution :
Bhabha Atomic Res. Centre, Bombay, India
fDate :
6/1/1991 12:00:00 AM
Abstract :
A method is presented for the generation of a free gait for the straight-line motion of a quadruped walking machine. It uses a heuristic graph search procedure based on the A* algorithm. The method essentially looks into the consequences of a move to a certain depth before actually committing to it. Deadlocks and inefficiencies are thus sensed well in advance and avoided
Keywords :
graph theory; mobile robots; optimisation; search problems; free gait generation; graph search approach; heuristic; mobile robots; quadruped walking machine; straight-line motion; Character generation; Foot; Gravity; Helium; Kinematics; Leg; Legged locomotion; Logic; System recovery; Vehicles;
Journal_Title :
Robotics and Automation, IEEE Transactions on
