Motion planning of walking robots using ordinal optimization

被引：25

作者：

Chen, CH ^{[1
]}

Kumar, V

Luo, YC

机构：

[1] Univ Penn, Dept Syst Engn, Philadelphia, PA 19104 USA

[2] Univ Penn, Dept Mech Engn, Philadelphia, PA 19104 USA

来源：

IEEE ROBOTICS & AUTOMATION MAGAZINE | 1998年 / 5卷 / 02期

关键词：

motion planning; walking robot; optimization; simulation;

D O I：

10.1109/100.692337

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：22 / 32

页数：11