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Title
Motion planning for a six-legged robot / von Bernhard Wimmer
AuthorWimmer, Bernhard
CensorBartocci, Ezio
PublishedWien, 2017
Descriptionxi, 88 Seiten : Illustrationen
Institutional NoteTechnische Universität Wien, Diplomarbeit, 2017
LanguageEnglish
Document typeThesis (Diplom)
Keywords (DE)Cyber-Physical System / Hybrid System / Motion Planning / Robotics / Simulation / Kinematics / Dynamics
URNurn:nbn:at:at-ubtuw:1-99076 Persistent Identifier (URN)
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 The work is publicly available
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Motion planning for a six-legged robot [2.38 mb]
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Abstract (English)

Motion planning refers to the process of translating high-level specifications of tasks into low-level sequences of control inputs for a robot's actuators. Legged robots, although more flexible with respect to wheeled robots in uneven and cluttered environments, are a very challenging application domain for motion planning. Such systems may benefit from the use of a multi-modal planner that is able to switch between discrete modes corresponding to the set of contact points of the robot with the ground. Widely available single-mode planners can then used to find a continuous trajectory through a given mode. Kinematic constraints usually require such paths to be constrained to a submanifold of the configuration space, which limits the efficacy of common single-mode planners and requires them to be adapted for this environment.

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