Title :
Stratified motion planning on non-smooth domains with application to robotic legged locomotion and manipulation
Author :
Wei, Yejun ; Goodwine, Bill
Author_Institution :
Dept. of Aerosp. & Mech. Eng., Notre Dame Univ., IN, USA
Abstract :
Presents an extension of the authors´ previous stratified motion planning results to the case where the base manifold upon which the motion planning occurs is not smooth. Robotic applications of this work includes motion planning for legged robots over non-smooth (but known) terrain and manipulation of non-smooth objects with multiple robotic manipulators.
Keywords :
geometry; legged locomotion; manipulators; multi-robot systems; path planning; legged robots; manipulation; multiple manipulators; nonsmooth domains; nonsmooth objects; nonsmooth terrain; robotic legged locomotion; stratified motion planning; Aerodynamics; Aerospace engineering; Algorithm design and analysis; Equations; Fingers; Legged locomotion; Motion planning; Robots; Software tools; Strategic planning;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1014259
