Paper Info
Title
Path and posture planning for walking robots by artificial potential field method
Abstract
Most of studies on path planning assume a wheeled robot as the vehicle. However, the robot is allowed to only make a detour for obstacle avoidance that often includes inefficiency. This research focuses that a walking robot has a high adaptation on irregular terrain and ability to transform the robot posture during walk. Therefore, the walking robot follows an efficient path in a three-dimensional complex environment in which a wheeled robot cannot do. In order to obtain an efficient path, we notice that the appearance of obstacles depends on the robot's body height and lateral foot breadth. For example, the walking robot avoids under overhead obstacles by crouching and pass as if there are no low level obstacles. When crouching, the robot should react to low-level obstacles as if they are high-level obstacles because the maximum lift of robot's foot is restricted by the crouch position. At the same time, low obstacles should be taken up as though higher obstacle because maximum lift of foot is restricted by the crouching posture. By such property, virtual obstacle, which is defined depended on robot posture, is defined. This paper presents path and posture planning method with the virtual obstacle. Finally, the method is verified by some experiments.
Year
DOI
Venue
2004
10.1109/ROBOT.2004.1307383
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference
Keywords
Field
DocType
collision avoidance,control engineering computing,legged locomotion,artificial potential field method,obstacle avoidance,path planning,posture planning,robot posture,walking robots
Control engineering,Snake-arm robot,Artificial intelligence,Motion planning,Obstacle avoidance,Lift (force),Robot control,Computer vision,Obstacle,Simulation,Engineering,Robot,Mobile robot
Conference
Volume
ISSN
ISBN
3
1050-4729
0-7803-8232-3
Citations 
PageRank 
References 
2
0.43
9
Authors
2
Name
Order
Citations
PageRank
Hiroshi Igarashi12511.03
Masayoshi Kakikura217833.42