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Motion planning of walking robots using ordinal optimization

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3 Author(s)
Chun-Hung Chen ; Pennsylvania Univ., Philadelphia, PA, USA ; Kumar, V. ; Yuh-Chyun Luo

A general approach for coordinating the legs of a multi-legged statically stable walking machine on an uneven terrain. The method of ordinal optimization is used to find a good motion plan for low travel time that specifies the footholds and the gait of the walking machine. Numerical simulations illustrate the approach and demonstrate that we can find a good motion plan for uneven terrain with high complexity in a reasonably short time.

Published in:

Robotics & Automation Magazine, IEEE  (Volume:5 ,  Issue: 2 )