Volume: 5, Issues: 1-2(1995)
pp. 3-20 DOI: 10.1142/S0218195995000027
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Full Text (PDF, 822KB)
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| Title: |
MOTION PLANNING OF LEGGED ROBOTS: THE SPIDER ROBOT PROBLEM
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| Author(s): |
JEAN-DANIEL BOISSONNAT
Work of these authors has been supported in part by the ESPRIT Basic Research Actions Nr. 3075 (ALCOM), 7141 (ALCOMII) and 6546 (PROMotion).
INRIA, BP 93, 06901 Sophia-Antipolis cedex, FranceOLIVIER DEVILLERS
Work of these authors has been supported in part by the ESPRIT Basic Research Actions Nr. 3075 (ALCOM), 7141 (ALCOMII) and 6546 (PROMotion).
INRIA, BP 93, 06901 Sophia-Antipolis cedex, FranceLEONBATTISTA DONATI
Work of these authors has been supported in part by the ESPRIT Basic Research Actions Nr. 3075 (ALCOM), 7141 (ALCOMII) and 6546 (PROMotion).
Currently at the University of Nice (France).
INRIA, BP 93, 06901 Sophia-Antipolis cedex, FranceFRANCO P. PREPARATA
Work of this author has been supported in part by NSF Grant CCR-91-96176 and by ONR Con tract N00014-91-J4052, ARPA order 8225.
Department of Computer Science, Brown University, Providence, RI 02912, USA
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| History: |
Received 5 August 1992
Revised 20 December 1993
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| Abstract: |
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 F of admissible and stable placements of such robots has size Θ(n2) and can be constructed in O(n2 log n) time and O(n2) space. Once F has been constructed, we can efficiently solve several problems related to motion planning. |
| Keywords: |
Spider robot; Legged robot; Motion planning
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