Titelaufnahme

Titel
Motion Planning for a Six-Legged Robot / von Bernhard Wimmer
Weitere Titel
Motion Planning for a Six-Legged Robot
VerfasserWimmer, Bernhard
Begutachter / BegutachterinBartocci, Ezio
ErschienenWien, 2017
Umfang100 Seiten
HochschulschriftTechnische Universität Wien, Diplomarbeit, 2017
Anmerkung
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Abweichender Titel nach Übersetzung der Verfasserin/des Verfassers
SpracheEnglisch
DokumenttypDiplomarbeit
Schlagwörter (DE)Cyber-Physical System / Hybrid System / Motion Planning / Robotics / Simulation / Kinematics / Dynamics
Schlagwörter (EN)Cyber-Physical System / Hybrid System / Motion Planning / Robotics / Simulation / Kinematics / Dynamics
URNurn:nbn:at:at-ubtuw:1-99076 Persistent Identifier (URN)
Zugriffsbeschränkung
 Das Werk ist frei verfügbar
Dateien
Motion Planning for a Six-Legged Robot [2.38 mb]
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Klassifikation
Zusammenfassung (Englisch)

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.