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A comparison of search-based planners for a legged robot
Örebro University, School of Science and Technology, Örebro University, Sweden. (Mobile Robotics & Olfaction, AASS Research Center)ORCID iD: 0000-0002-5973-7424
Istituto Italiano di Tecnologia, Italy. (Department of Advanced Robotics)
Istituto Italiano di Tecnologia, Italy. (Department of Advanced Robotics)
ETH Zurich. (Agile & Dexterous Robotics Lab)
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2013 (English)Conference paper (Refereed)
Abstract [en]

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 [1], 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.
Keyword [en]
Quadruped Locomotion, Path Planning, Search Algorithms
National Category
Computer Systems
Research subject
Computer Science
URN: urn:nbn:se:oru:diva-30823OAI: diva2:648583
9th International Workshop on Robot Motion and Control (RoMoCo), Wasowo, Poland, July 3-5, 2013
Available from: 2013-09-16 Created: 2013-09-16 Last updated: 2013-09-18Bibliographically approved

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Arain, Muhammad Asif
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School of Science and Technology, Örebro University, Sweden
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