On drift neutralization of six legged robot

Harmati, I. [Harmati, István (Irányításelmélet), szerző] Irányítástechnika és Informatika Tanszék (BME / VIK); Kovacs, G. [Kovács, Gábor (Rendszerdiagnosztika), szerző] Irányítástechnika és Informatika Tanszék (BME / VIK)

Angol nyelvű Tudományos Konferenciaközlemény (Egyéb konferenciaközlemény)
    This paper addresses the motion planning problem (MPP) on the kinematic model of six-legged robots. It is assumed that nonholonomic constraints and drift are present which make the motion planning nontrivial while the stratified nature requires additional attention to path planning. An algorithm to drift neutralization derived from stratified framework to six-legged robot is proposed. The algorithm yields generally an approximation. The main motivation is to move the robot along a reference path that assists resolving obstacle avoidance problem. Configuration switching is supported by the use of supervisory control theory. The results are illustrated on a simple kinematic model of six-legged robot.
    Hivatkozás stílusok: IEEEACMAPAChicagoHarvardCSLMásolásNyomtatás
    2021-09-23 07:38