| Title |
A Method of Path Planning for a Quadruped Walking Robot on Irregular Terrain |
| Authors |
이연정 ; Zeungnam Biem(Zeungnam Biem) |
| Keywords |
사각 보행 로보트 ; 걸음새 ; 물결-게 걸음새 ; 경로 계획 ; 인공 계 Quadruped Walking Robot ; Gait ; Wave-Crab Gait ; Path Planning ; Artificial Field |
| Abstract |
This paper presents a novel method of path planning for a quadruped walking robot on irregular terrain. In the previous study on the path planning problem of mobile robots, it has been usually focused on the collision-free path planning for wheeled robots. The path planning problem of legged roboth, however, has unique aspects from the point of viw that the legged robot can cross over the obstacles and the gait constraint should be considered in the process of planning a path. To resolve this unique problem systematically, a new concept of the artificial intensity field of light is numerically constructed over the configuration space of the robot including the transformed obstacles and a feasible path is sought in the field. Also, the efficiency of the proposed method is shown by various simulation results. |