Path planning for a quadruped robot: an artificial field approach

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In this paper, we consider the problem of planning a feasible path for a quadruped walking robot in an environment of obstacles. In conventional path-planning problems, the main focus is merely collision avoidance with obstacles since a wheeled robot is involved. However, in the case of a legged robot, both collision avoidance and crossing over obstacles must be taken into account in the process of path planning. Furthermore, the constraints of the gait should be considered to guarantee the feasibility of a planned path. To resolve this complicated problem in a systematic way, a new concept of an artificial thermal field is proposed. Specifically, with the assumption that a robot walks with a periodic crab gait, a robot and obstacles in a three-dimensional (3D) space are projected on a 2D plane. Next, the 2D obstacles are transformed into the configuration space of a quadruped robot. A feasible path is finally sought in an artificial thermal field which is constructed numerically on the discretized configuration space. To verify the efficacy of the proposed approach, three notable simulation results are provided.
Publisher
VSP BV
Issue Date
2002-03
Language
English
Article Type
Article
Keywords

WAVE GAITS

Citation

ADVANCED ROBOTICS, v.16, no.7, pp.609 - 627

ISSN
0169-1864
URI
http://hdl.handle.net/10203/85949
Appears in Collection
EE-Journal Papers(저널논문)
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