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Motion planning of walking robots in environments with uncertainty

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2 Author(s)
Chun-Hung Chen ; Dept. of Syst. Eng., Pennsylvania Univ., Philadelphia, PA, USA ; Kumar, V.

Presents a general approach for coordinating the legs of a multi-legged statically stable walking machine on an uneven terrain. The approach yields an optimized motion plan for several “body-lengths” that allows us to select footholds and sequence the legs of the walking machine. We assume that a terrain map is available but that this map may be characterized by uncertainty. We also assume the optimality of the motion plan can be measured by a suitable metric. The method of ordinal optimization is used to find a motion plan that is guaranteed to be in a desired percentile with a given confidence level. Depending on the available computational resources we can improve our confidence level and/or get closer to the optimal plan. Finally, our approach allows us to trade off speed with safety, and speed with optimality

Published in:

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on  (Volume:4 )

Date of Conference:

22-28 Apr 1996