The kinematics of motion planning for multilegged vehicles over uneven terrain

1988 ◽  
Vol 4 (2) ◽  
pp. 204-212 ◽  
Author(s):  
W.-J. Lee ◽  
D.E. Orin
Keyword(s):  
Motion Planning ◽  
Uneven Terrain

2A1-D11 Kinodynamic Motion Planning for a Humanoid Robot on Uneven Terrain

2008 ◽  
Vol 2008 (0) ◽  
pp. _2A1-D11_1-_2A1-D11_4
Author(s):  
Kensuke Harada ◽  
Mitsuharu Morisawa ◽  
Shin-ichiro Nakaoka ◽  
Kenji Kaneko ◽  
Shuuji Kajita
Keyword(s):  
Motion Planning ◽  
Humanoid Robot ◽  
Uneven Terrain

scholarly journals Efficient Humanoid Motion Planning on Uneven Terrain Using Paired Forward-Inverse Dynamic Reachability Maps

2017 ◽  
Vol 2 (4) ◽  
pp. 2279-2286 ◽  
Author(s):  
Yiming Yang ◽  
Wolfgang Merkt ◽  
Henrique Ferrolho ◽  
Vladimir Ivan ◽  
Sethu Vijayakumar
Keyword(s):  
Motion Planning ◽  
Inverse Dynamic ◽  
Uneven Terrain

Displacement Analysis of an Actively Articulated Wheeled Vehicle Configuration With Extensions to Motion Planning on Uneven Terrain

1996 ◽  
Vol 118 (2) ◽  
pp. 312-317 ◽  
Author(s):  
S. V. Sreenivasan ◽  
K. J. Waldron
Keyword(s):  
Motion Planning ◽  
Multiple Solutions ◽  
Geometric Reasoning ◽  
Displacement Analysis ◽  
Uneven Terrain ◽  
Wheeled Vehicle ◽  
Vehicle Configuration ◽  
Wheeled Vehicles

This manuscript presents a displacement analysis of actively articulated wheeled vehicles on uneven terrain. These vehicles are distinct from traditional wheeled systems since they have the ability to actively adapt to variations in the terrain and they can actively influence the forces at the wheel-terrain contact locations. They also possess special mobility capabilities such as obstacle climbing and self-recovery from an over-turn failure. The problem of solving for the configuration of these vehicles on uneven terrain has been addressed in detail. The displacement analysis leads to multiple solutions due to the inherent nonlinearity in the position kinematic equations. Geometric reasoning has been used to identify the particular configuration that represents the “correct” vehicle geometry on the terrain. Applications of the displacement analysis algorithms to vehicle planning on uneven terrain have been discussed. An obstacle climbing maneuver of a three-module actively articulated wheeled vehicle has been described.

Extending and evaluating the posture-based model of motion planning

2006 ◽  
Author(s):  
Jonathan Vaughan ◽  
Steven Jax ◽  
David A. Rosenbaum
Keyword(s):  
Motion Planning

Motion Planning in ROS

2012 ◽  
Author(s):  
Ioan Sucan ◽  
Sachin Chitta
Keyword(s):  
Motion Planning

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