In this paper, we deal with the problem of full-body path planning for walking robots. The state of walking robots is defined in multi-dimensional space. Path planning requires defining the path of the feet and the robot's body. Moreover, the planner should check multiple constraints like static stability, self-collisions, collisions with the terrain, and the legs' workspace. As a result, checking the feasibility of the potential path is time-consuming and influences the performance of a planning method. In this paper, we verify the feasibility of sampling-based planners in the path planning task of walking robots. We identify the strengths and weaknesses of the existing planners. Finally, we propose a new planning method that improves the performance of path planning of legged robots.
Both legged locomotion and slithering motions typically utilize periodic gaits -- repeating cycles of body shape change that produce a net motion through the world. Legged locomotion can be viewed from the perspective of piece-wise contact constraint formation and removal. Slithering and low Reynolds number swimming operate under continuous constraints of force balance, wherein dissipation removes the ability to accumulate momentum. Here we discuss how to bridge the gap between these domains of motion, thereby, among other benefits, producing models for the space of legged locomotion with slip…
FZI Research Center for Information Technology（FZI信息技术研究中心）
A key factor in the economic efficiency of satellites is their availability in orbit. Replacing standardized building blocks, such as empty fuel tanks or outdated electronic modules, could greatly extend the satellites' lifetime. This, however, requires flexible robots that can locomote on the surface of these satellites for optimal accessibility and manipulation. This paper introduces ReCoBot, a 7-axis walking space manipulator for locomotion and manipulation. The robot can connect to compatible structures with its symmetric ends and provides interfaces for manual teleoperation and motion pla…
Nearest-Neighbourless Asymptotically Optimal Motion Planning with Fully Connected Informed Trees (FCIT*)
Estimation, Search, and Planning (ESP) Research Group, Queen’s University, Kingston ON, Canada（皇后大学估计、搜索与规划研究组）；Department of Computer Science, Rice University, Houston TX, USA（里士满大学计算机科学系）；Department of Computer Science, Purdue University, West Lafayette IN, USA（普渡大学计算机科学系）；Ken Kennedy Institute, Rice University, Houston TX, USA（里士满大学肯尼迪研究所）
Central pattern generators (CPGs), with a basis is neurophysiological studies, are a type of neural network for the generation of rhythmic motion. While CPGs are being increasingly used in robot control, most applications are hand-tuned for a specific task and it is acknowledged in the field that generic methods and design principles for creating individual networks for a given task are lacking. This study presents an approach where the connectivity and oscillatory parameters of a CPG network are determined by an evolutionary algorithm with fitness evaluations in a realistic simulation with ac…
Many methods have been developed in trajectory planning in order to achieve smooth and accurate motion with considering the constraints of kinematics constraints such as angular position, velocity, acceleration, and jerk. The problem of using the combination of n-order polynomials is that there is no ideally match between the segments of trajectory path at the via point in terms of the number of kinematic constraints. It leads to generate undesirable trajectory path at the via point that connects between two segments of the trajectory path. In this paper, we aim to investigate the effect of in…
Informed sampling-based planning algorithms exploit problem knowledge for better search performance. This knowledge is often expressed as heuristic estimates of solution cost and used to order the search. The practical improvement of this informed search depends on the accuracy of the heuristic. Selecting an appropriate heuristic is difficult. Heuristics applicable to an entire problem domain are often simple to define and inexpensive to evaluate but may not be beneficial for a specific problem instance. Heuristics specific to a problem instance are often difficult to define or expensive to ev…
Dynamic Modeling and MPC for Locomotion of Tendon-Driven Soft Quadruped
Department of Electrical Engineering, IIT Gandhinagar（电子工程系，印度加尔各直辖区理工学院）；Department of Electronics and Computer Engineering, Sreenidhi Institute of Science and Technology（电子与计算机工程系，斯里尼迪学院科学与技术研究所）；Department of Mechanical Engineering, IIT Gandhinagar（机械工程系，印度加尔各直辖区理工学院）
We have developed biped robots with a passive dynamic walking mechanism. This study proposes a compass model with a wobbling mass connected to the upper body and oscillating in the horizontal direction to clarify the influence of the horizontal dynamics of the upper body on bipedal walking. The limit cycles of the model were numerically searched, and their stability and energy efficiency was investigated. Several qualitatively different limit cycles were obtained depending mainly on the spring constant that supports the wobbling mass. Specific types of solutions decreased the stability while r…
Design and Development of a Remotely Wire-Driven Walking Robot
Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo（机械信息学系，信息科学与技术研究生院，东京大学）；AI Center, Graduate School of Information Science and Technology, The University of Tokyo（人工智能中心，信息科学与技术研究生院，东京大学）
Decentralized Rendezvous of Nonholonomic Robots with Sensing and Connectivity Constraints
Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, USA（机械与航空航天工程系，佛罗里达大学，盖恩斯维尔，美国）；Munitions Directorate, Air Force Research Laboratory, Eglin AFB, FL 32542, USA（弹药局，空军研究实验室，埃格林空军基地，佛罗里达州，32542，美国）；Department of Electrical and Computer Engineering, University of Florida, Gainesville, USA（电气与计算机工程系，佛罗里达大学，盖恩斯维尔，美国）
