Title :
Cooperative Path Planning for a Heterogeneous Robotic System Composed of a Humanoid Robot and a Wheel Robot
Author :
Santana, Andre M. ; Medeiros, Adelardo A D
Author_Institution :
Dept. of Comput. Eng. & Autom. (DCA), Fed. Univ. of Rio Grande do Norte (UFRN), Natal
Abstract :
This study presents a path planning strategy for a robotic system, subject to visibility restrictions, composed of a humanoid robot and a wheel robot. The planner calculates a cooperative pathway, assuming a known map a priori, considering that the humanoid robot is identified by a mark placed inside its front portion and all information processing is executed in the mobile robot. Experimental results validated the proposed idea.
Keywords :
humanoid robots; legged locomotion; path planning; cooperative path planning; cooperative pathway; heterogeneous robotic system; humanoid robot; mobile robot; visibility restrictions; wheel robot; Finite element methods; Humanoid robots; Information processing; Mobile robots; Orbital robotics; Path planning; Robot kinematics; Robot vision systems; Robotics and automation; Wheels;
Conference_Titel :
Robotic Symposium, 2008. LARS '08. IEEE Latin American
Conference_Location :
Natal, Rio Grande do Norte
Print_ISBN :
978-1-4244-3379-7
Electronic_ISBN :
978-0-7695-3536-4
DOI :
10.1109/LARS.2008.14
