DocumentCode
3143650
Title
An adaptive action model for legged navigation planning
Author
Chestnutt, Joel ; Nishiwaki, Koichi ; Kuffner, James ; Kagami, Satoshi
Author_Institution
Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA
fYear
2007
fDate
Nov. 29 2007-Dec. 1 2007
Firstpage
196
Lastpage
202
Abstract
Navigation planning for legged robots via foot placement planning has enabled several humanoids to traverse interesting environments autonomously. In this paper we explore methods of adapting foot placement actions to the terrain during the search process, allowing for fuller use of the robot´s capabilities, and better resulting paths. We show the results of these adaptive action models for both the humanoid HRP-2 and the quadruped LittleDog.
Keywords
humanoid robots; legged locomotion; navigation; path planning; adaptive action model; foot placement actions; foot placement planning; humanoid HRP-2; humanoids; legged navigation planning; legged robots; quadruped LittleDog; search process; Foot; Humanoid robots; Legged locomotion; Mobile robots; Motion planning; Navigation; Orbital robotics; Process planning; Robot sensing systems; Sampling methods;
fLanguage
English
Publisher
ieee
Conference_Titel
Humanoid Robots, 2007 7th IEEE-RAS International Conference on
Conference_Location
Pittsburgh, PA
Print_ISBN
978-1-4244-1861-9
Electronic_ISBN
978-1-4244-1862-6
Type
conf
DOI
10.1109/ICHR.2007.4813868
Filename
4813868
Link To Document