Multi-plane Motion Planning for Multi-Legged Robots

Wei Cheah, Peter Green, Simon Watson, Barry Lennox, Farshad Arvin

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

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    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.
    Original languageEnglish
    Title of host publicationUK-RAS Conference on Robotics and Autonomous Systems
    Publication statusPublished - 2017


    • legged mobile robots
    • Motion Planning


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