Fast Self-collision Detection Method for Walking Robots

Augustyn, Tomasz; Belter, Dominik

doi:10.1007/978-3-319-29357-8_48

Cited by 1 publication

(2 citation statements)

References 13 publications

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“…where n = {−1, 1} and m = {−1, 1}. At each direction, we find the first position which is outside the workspace and use them to find the minimal value in (3). The largest kinematic margin is defined for the pose which is at the center of the leg's workspace.…”

Section: B Kinematic Marginmentioning

confidence: 99%

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Efficient Modeling and Evaluation of Constraints in Path Planning for Multi-Legged Walking Robots

Belter

2019

IEEE Access

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In this article, we propose a new method for constraints evaluation during the path planning of a multi-legged walking robot. We propose the application of Gaussian Mixtures (GM) to build constraint models. With the proposed analytical constraint function we can compute the gradient and move the robot out of the bound configuration. The proposed method allows checking self-collisions, and a workspace of the robot in a few microseconds and efficiently plan the motion of the robot. The proposed path planning method uses RRT-Connect framework. We show how to efficiently apply the constraints evaluation methods to optimize the posture of the robot, optimize the position of the feet during the swing phase and efficiently explore the search space. We compare the proposed method with the standard constraints evaluation algorithms. Finally, we present the results of path planning for the six-legged robot in various scenarios to show properties of the proposed motion planning algorithm with GM-based constraints evaluation. INDEX TERMS Autonomous systems, legged locomotion, path planning, robot motion.

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Section: B Kinematic Marginmentioning

confidence: 99%

“…In this case, the locomotion capabilities of the robot are also significantly limited. We suggest to dynamically check self-collisions of the robot [3] instead of checking static joint limits.…”

Section: Self-collisionsmentioning

confidence: 99%

Efficient Modeling and Evaluation of Constraints in Path Planning for Multi-Legged Walking Robots

Belter

2019

IEEE Access

Self Cite

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show abstract

Fast Self-collision Detection Method for Walking Robots

Cited by 1 publication

References 13 publications

Efficient Modeling and Evaluation of Constraints in Path Planning for Multi-Legged Walking Robots

Efficient Modeling and Evaluation of Constraints in Path Planning for Multi-Legged Walking Robots

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