Name
Title | ||
|---|---|---|
Variable Configuration Planner For Legged-Rolling Obstacle Negotiation Locomotion: Application On The Centauro Robot |
Abstract | ||
|---|---|---|
Hybrid legged-wheeled robots are able to adapt their leg configuration and height to vary their footprint polygons and go over obstacles or traverse narrow spaces. In this paper, we present a variable configuration wheeled motion planner based on the A* algorithm. It takes advantage of the agility of hybrid wheeled-legged robots and plans paths over low-lying obstacles and in narrow spaces. By imposing a symmetry on the robot polygon, the computed plans lie in a low-dimensional search space that provides the robot with configurations to safely negotiate obstacles by expanding or shrinking its footprint polygon. The introduced autonomous planner is demonstrated using simulations and real-world experiments with the CENTAURO robot. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/IROS40897.2019.8968014 | 2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) |
Field | DocType | ISSN |
Obstacle negotiation,Polygon,Computer science,Planner,Real-time computing,Control engineering,Footprint,Robot,Traverse | Conference | 2153-0858 |
Citations | PageRank | References |
1 | 0.35 | 0 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Vignesh Sushrutha Raghavan | 1 | 1 | 1.03 |
| Dimitrios Kanoulas | 2 | 3 | 3.42 |
| Arturo Laurenzi | 3 | 24 | 9.04 |
| Darwin G. Caldwell | 4 | 2900 | 319.72 |
| NG Tsagarakis | 5 | 1492 | 159.09 |