Graph search joint path planning for robot center of gravity positioning

Motivated toward dynamic rolling control of hybrid walking-climbing-rolling robots, this paper presents a greedy graph search method using two different metrics for purposes of joint path planning for a planar three degree of freedom hybrid mobility robot. Given an initial configuration and a desired net center of gravity location for the robot, the graph search finds joint paths that relocate the robotpsilas center of gravity to the desired position without causing its links to collide. An emphasis is placed on fast search times such that the planners may be used as part of real-time control loops for rolling mobile robots.