Motion planning algorithms for stratified kinematic systems with application to the hexapod robot

The paper addresses the motion planning problem of legged robots. Kinematic models of these robots are stratified, i.e. the equations of motion differ on different strata. An improved version of the motion planning algorithm proposed in the literature is compared with two alternative solutions via t...

Teljes leírás

Elmentve itt :
Bibliográfiai részletek
Szerzők: Harmati István
Kiss Bálint
Testületi szerző: Conference for PhD Students in Computer Science (2.) (2000) (Szeged)
Dokumentumtípus: Cikk
Megjelent: 2001
Sorozat:Acta cybernetica 15 No. 2
Kulcsszavak:Számítástechnika, Kibernetika
Tárgyszavak:
Online Access:http://acta.bibl.u-szeged.hu/12675
Leíró adatok
Tartalmi kivonat:The paper addresses the motion planning problem of legged robots. Kinematic models of these robots are stratified, i.e. the equations of motion differ on different strata. An improved version of the motion planning algorithm proposed in the literature is compared with two alternative solutions via the example of the six-legged (hexapod) robot. The first alternative solution uses explicit integration of the vector fields while the second one exploits the flatness of a restricted subsystem.
Terjedelem/Fizikai jellemzők:225-240
ISSN:0324-721X