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Abstract
Hexapods are desirable due to its statically stable motions and redundant
configuration. Studies on motion planning for these robots are in environments
that are wide and contacts are typically made on the plane they are travelling
on. Large obstacles or narrow pathway are avoided by planning another route.
This limits areas that the robot is able to access such as in confined areas or
discontinuous path. This paper presents the concept of multi-plane motion
planning for multi-legged robots, specifically for hexapods to address limitations
of their inherent design and on existing motion planners. A conceptual hexapod
for multi-plane motion is also detailed.
configuration. Studies on motion planning for these robots are in environments
that are wide and contacts are typically made on the plane they are travelling
on. Large obstacles or narrow pathway are avoided by planning another route.
This limits areas that the robot is able to access such as in confined areas or
discontinuous path. This paper presents the concept of multi-plane motion
planning for multi-legged robots, specifically for hexapods to address limitations
of their inherent design and on existing motion planners. A conceptual hexapod
for multi-plane motion is also detailed.
| Original language | English |
|---|---|
| Title of host publication | UK-RAS Conference on Robotics and Autonomous Systems |
| Pages | 68-70 |
| Publication status | Published - 2017 |
Keywords
- legged mobile robots
- Motion Planning
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Dive into the research topics of 'Multi-plane Motion Planning for Multi-Legged Robots'. Together they form a unique fingerprint.Research output
- 1 Article
-
Tuning and Sensitivity Analysis of a Hexapod State Estimator
Hakim Khalili, H., Cheah, W., Garcia Nathan, T., Carrasco, J., Watson, S. & Lennox, B., 2020, In: Robotics and Autonomous Systems.Research output: Contribution to journal › Article › peer-review
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