Receding Horizon Contact Planning for Advanced Motions in Hexapod Robots

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This work proposes a planning approach for advanced motions in hexapod robots. Contact sequences are explored until a user-defined planning horizon is reached. The contact change leading to the best position on the horizon is executed, and exploration resumes. In preliminary simulations, the algorithm consistently returned paths requiring at least 20% fewer contact changes than the state-of-the-art. Our algorithm generated 48.0% fewer nodes than the state-of-the-art in one terrain and 0.5% more in another, leading future work to examine the effects of specific environmental features on the number of nodes generated.
Original languageEnglish
Title of host publicationTowards Autonomous Robotic Systems Extended Abstracts
Subtitle of host publication24th Annual Conference, TAROS 2023 Cambridge, UK, September 13–15, 2023 Proceedings
EditorsFumiya Iida, Perla Maiolino, Arsen Abdulali, Minfeng Wang
Place of PublicationCambridge, UK
Number of pages4
Publication statusPublished - 15 Sept 2023


  • Contact Planning
  • Legged Motion Planning
  • Hexapod Robots


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