Raghavan, VS;
Kanoulas, D;
Laurenzi, A;
Caldwell, DG;
Tsagarakis, NG;
(2020)
Variable Configuration Planner for Legged-Rolling Obstacle Negotiation Locomotion: Application on the CENTAURO Robot.
In:
Proceedings of 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
(pp. pp. 4738-4745).
IEEE: Macau, China.
Preview |
Text
P26.pdf - Accepted Version Download (4MB) | Preview |
Abstract
Hybrid legged-wheeled robots are able to adapt their leg configuration and height to vary their footprint polygons and go over obstacles or traverse narrow spaces. In this paper, we present a variable configuration wheeled motion planner based on the A* algorithm. It takes advantage of the agility of hybrid wheeled-legged robots and plans paths over low-lying obstacles and in narrow spaces. By imposing a symmetry on the robot polygon, the computed plans lie in a low-dimensional search space that provides the robot with configurations to safely negotiate obstacles by expanding or shrinking its footprint polygon. The introduced autonomous planner is demonstrated using simulations and real-world experiments with the CENTAURO robot.
| Type: | Proceedings paper |
|---|---|
| Title: | Variable Configuration Planner for Legged-Rolling Obstacle Negotiation Locomotion: Application on the CENTAURO Robot |
| Event: | 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/IROS40897.2019.8968014 |
| Publisher version: | https://doi.org/10.1109/IROS40897.2019.8968014 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10091817 |
Loading...
Loading...Loading...Loading...Archive Staff Only
 |
View Item |
