A comparison of search-based planners for a legged robot
2013 (English)Conference paper (Refereed)
Path planning for multi-DoF legged robots is achallenging task due to the high dimensionality and complexityof the planning space. We present our first attempt to builda path planning framework for the hydraulic quadruped -HyQ. Our approach adopts a similar strategy to , whereplanning is divided into a task-space and a joint-space part.The task-space planner finds a path for the center of gravity(COG) of the robot, while then the footstep planner generates theappropriate footholds under reachability and stability criteria.Next the joint-space planner translates the task-space COGtrajectories into robot joint angles. We present a comparisonof a set of search-based planning algorithms; Dijkstra, A* andARA*, and evaluate these over a set of given terrains and anumber of varying start and end points. All test runs supportthat our approach is a simple yet robust solution. We reportcomparisons in path length, computation time, and path cost,between the aforementioned planning algorithms.
Place, publisher, year, edition, pages
2013. 104-109 p.
Quadruped Locomotion, Path Planning, Search Algorithms
Research subject Computer Science
IdentifiersURN: urn:nbn:se:oru:diva-30823OAI: oai:DiVA.org:oru-30823DiVA: diva2:648583
9th International Workshop on Robot Motion and Control (RoMoCo), Wasowo, Poland, July 3-5, 2013