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Conference Paper: Motion planning of a bipedal miniature crawling robot in hybrid configuration space

TitleMotion planning of a bipedal miniature crawling robot in hybrid configuration space
Authors
Issue Date2002
Citation
IEEE International Conference on Intelligent Robots and Systems, 2002, v. 3, p. 2407-2412 How to Cite?
AbstractThis paper describes the motion planning of a bipedal crawling robot with under-actuated mechanism and multiple locomotion modes. A hybrid configuration space is proposed to incorporate the continuous configuration space with discrete motion status space imposed by the kinematic constraints. Under the hybrid configuration space framework, a motion planning method is developed which consists of a global planner and a local planner to generate a collision-free path and a feasible motion sequence to travel along the path. A cost function is defined based on the motion status information to guide the search for an optimal path. Simulation and experimental results have verified the theoretical development.
Persistent Identifierhttp://hdl.handle.net/10722/212754

 

DC FieldValueLanguage
dc.contributor.authorXiao, Jizhong-
dc.contributor.authorXi, Ning-
dc.contributor.authorDulimarta, Hans-
dc.contributor.authorTummala, R. L.-
dc.date.accessioned2015-07-28T04:04:54Z-
dc.date.available2015-07-28T04:04:54Z-
dc.date.issued2002-
dc.identifier.citationIEEE International Conference on Intelligent Robots and Systems, 2002, v. 3, p. 2407-2412-
dc.identifier.urihttp://hdl.handle.net/10722/212754-
dc.description.abstractThis paper describes the motion planning of a bipedal crawling robot with under-actuated mechanism and multiple locomotion modes. A hybrid configuration space is proposed to incorporate the continuous configuration space with discrete motion status space imposed by the kinematic constraints. Under the hybrid configuration space framework, a motion planning method is developed which consists of a global planner and a local planner to generate a collision-free path and a feasible motion sequence to travel along the path. A cost function is defined based on the motion status information to guide the search for an optimal path. Simulation and experimental results have verified the theoretical development.-
dc.languageeng-
dc.relation.ispartofIEEE International Conference on Intelligent Robots and Systems-
dc.titleMotion planning of a bipedal miniature crawling robot in hybrid configuration space-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-0036450750-
dc.identifier.volume3-
dc.identifier.spage2407-
dc.identifier.epage2412-

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