Receding Horizon Contact Planning for Agile Motions in Hexapod Robots

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


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 languageEnglish
Title of host publicationICRA 2023 Workshop on Agile Movements: Animal Behavior, Biomechanics, and Robot Devices
Publication statusAccepted/In press - 27 Apr 2023


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