Title :
A free gait for generalized motion
Author :
Pal, P.K. ; Jayarajan, K.
Author_Institution :
Bhabha Atomic Res. Centre, Bombay, India
fDate :
10/1/1990 12:00:00 AM
Abstract :
A method is presented for the generation of a locally optimal free gait for 2-D generalized motion of a quadruped walking machine. It employs 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; position control; search problems; 2-D generalized motion; free gait; heuristic graph search; mobile robots; quadruped walking machine; Character generation; Foot; Gravity; Leg; Legged locomotion; Remote handling; Robot kinematics; Stability; System recovery;
Journal_Title :
Robotics and Automation, IEEE Transactions on
