Receding Horizon Contact Planning for Agile Motions in Hexapod Robots

Daniel Johnson; Bruno Vilhena Adorno; Simon Watson

Receding Horizon Contact Planning for Agile Motions in Hexapod Robots

Daniel Johnson, Bruno Vilhena Adorno, Simon Watson

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

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Abstract

This work proposes a planning approach for agile motions in hexapod robots. The algorithm explores contact sequences until a user-defined planning horizon is reached. The move leading to the best position on the horizon is executed, and exploration resumes. The planning comprising exploration plus optimal motion within the planning horizon continues until the desired stance is reached. In preliminary simulations, the algorithm returned a path requiring 33% fewer contact changes than the state of the art while generating 64% more nodes.

Original language	English
Title of host publication	ICRA 2023 Workshop on Agile Movements: Animal Behavior, Biomechanics, and Robot Devices
Publisher	IEEE
Publication status	Accepted/In press - 27 Apr 2023

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title = "Receding Horizon Contact Planning for Agile Motions in Hexapod Robots",

abstract = "This work proposes a planning approach for agile motions in hexapod robots. The algorithm explores contact sequences until a user-defined planning horizon is reached. The move leading to the best position on the horizon is executed, and exploration resumes. The planning comprising exploration plus optimal motion within the planning horizon continues until the desired stance is reached. In preliminary simulations, the algorithm returned a path requiring 33% fewer contact changes than the state of the art while generating 64% more nodes.",

author = "Daniel Johnson and Adorno, {Bruno Vilhena} and Simon Watson",

year = "2023",

month = apr,

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language = "English",

booktitle = "ICRA 2023 Workshop on Agile Movements: Animal Behavior, Biomechanics, and Robot Devices",

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T1 - Receding Horizon Contact Planning for Agile Motions in Hexapod Robots

AU - Johnson, Daniel

AU - Adorno, Bruno Vilhena

AU - Watson, Simon

PY - 2023/4/27

Y1 - 2023/4/27

N2 - This work proposes a planning approach for agile motions in hexapod robots. The algorithm explores contact sequences until a user-defined planning horizon is reached. The move leading to the best position on the horizon is executed, and exploration resumes. The planning comprising exploration plus optimal motion within the planning horizon continues until the desired stance is reached. In preliminary simulations, the algorithm returned a path requiring 33% fewer contact changes than the state of the art while generating 64% more nodes.

AB - This work proposes a planning approach for agile motions in hexapod robots. The algorithm explores contact sequences until a user-defined planning horizon is reached. The move leading to the best position on the horizon is executed, and exploration resumes. The planning comprising exploration plus optimal motion within the planning horizon continues until the desired stance is reached. In preliminary simulations, the algorithm returned a path requiring 33% fewer contact changes than the state of the art while generating 64% more nodes.

M3 - Conference contribution

BT - ICRA 2023 Workshop on Agile Movements: Animal Behavior, Biomechanics, and Robot Devices

PB - IEEE

ER -

Receding Horizon Contact Planning for Agile Motions in Hexapod Robots

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