On-line and on-board planning and perception for quadrupedal locomotion

Carlos Mastalli, Ioannis Havoutis, Alexander W. Winkler, Darwin G. Caldwell, Claudio Semini

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We present a legged motion planning approach for quadrupedal locomotion over challenging terrain. We decompose the problem into body action planning and footstep planning. We use a lattice representation together with a set of defined body movement primitives for computing a body action plan. The lattice representation allows us to plan versatile movements that ensure feasibility for every possible plan. To this end, we propose a set of rules that define the footstep search regions and footstep sequence given a body action. We use Anytime Repairing A* (ARA*) search that guarantees bounded suboptimal plans. Our main contribution is a planning approach that generates on-line versatile movements. Experimental trials demonstrate the performance of our planning approach in a set of challenging terrain conditions. The terrain information and plans are computed on-line and on-board.
Original languageEnglish
Title of host publication2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages1-7
Number of pages7
ISBN (Electronic)978-1-4799-8757-3
DOIs
Publication statusPublished - 27 Aug 2015
EventIEEE International Conference on Technologies for Practical Robot Applications 2015 - Boston, United States
Duration: 11 May 201512 May 2015
https://www.ieee-ras.org/component/rseventspro/event/545-tepra-2015-ieee-international-conference-on-technologies-for-practical-robot-applications

Publication series

Name
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
ISSN (Print)2325-0526
ISSN (Electronic)2325-0534

Conference

ConferenceIEEE International Conference on Technologies for Practical Robot Applications 2015
Abbreviated titleTePRA 2015
Country/TerritoryUnited States
CityBoston
Period11/05/1512/05/15
Internet address

Keywords

  • legged locomotion
  • motion control
  • path planning
  • search problems
  • quadrupedal locomotion planning
  • quadrupedal locomotion perception
  • legged motion planning approach
  • body action planning
  • footstep planning
  • lattice representation
  • body movement primitives
  • body action plan
  • ARA* search
  • anytime repairing A* search
  • Planning
  • Lattices
  • Legged locomotion
  • Dynamics
  • Search problems
  • Radio frequency

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