Motion planning of legged robots : the spider robot problem - Inria - Institut national de recherche en sciences et technologies du numérique
Rapport (Rapport De Recherche) Année : 1992

Motion planning of legged robots : the spider robot problem

Résumé

We consider the problem of planning motions of a simple legged robot called the spider robot. The robot is modelled as a point where all its legs are attached, and the footholds where the robot can securely place its feet consist of a set of n points in the plane. We show that the space of admissible and stable placements of such robots has size Q (n2) and can be constructed in O ( n2 log n) time and O (n2) space. Once has been constructed, we can efficiently solve several problems related to motion planning.

Domaines

Autre [cs.OH]
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Dates et versions

inria-00077007 , version 1 (29-05-2006)

Identifiants

  • HAL Id : inria-00077007 , version 1

Citer

Jean-Daniel Boissonnat, Olivier Devillers, Franco P. Preparata, Leonbattista Donati. Motion planning of legged robots : the spider robot problem. [Research Report] RR-1767, INRIA. 1992. ⟨inria-00077007⟩
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