Motion planning of a bipedal miniature crawling robot in hybrid configuration space

This paper describes the motion planning of a bipedal crawling robot with an under-actuated mechanism and multiple locomotion modes. A hybrid configuration space is proposed to incorporate the continuous configuration space with discrete motion status space imposed by the kinematic constraints. Unde...

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Bibliographic Details
Main Authors: Jizhong Xiao, Ning Xi, Dulimarta, H., Tummala, R.L.
Format: Conference Proceeding
Language:English
Subjects:
Applied sciences
Artificial intelligence
Computer science
control theory
systems
Control theory. Systems
Cost function
Exact sciences and technology
Foot
Kinematics
Leg
Legged locomotion
Motion planning
Orbital robotics
Pattern recognition. Digital image processing. Computational geometry
Robotics
Robots
Space exploration
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Summary:This paper describes the motion planning of a bipedal crawling robot with an under-actuated mechanism and multiple locomotion modes. A hybrid configuration space is proposed to incorporate the continuous configuration space with discrete motion status space imposed by the kinematic constraints. Under the hybrid configuration space framework, a motion planning method is developed which consists of a global planner and a local planner to generate a collision-free path and a feasible motion sequence to travel along the path. A cost function is defined based on the motion status information to guide the search for an optimal path. Simulation and experimental results have verified the theoretical development.
DOI:10.1109/IRDS.2002.1041628