Harmati István and Kiss Bálint: Motion planning algorithms for stratified kinematic systems with application to the hexapod robot. In: Acta cybernetica, (15) 2. pp. 225-240. (2001)
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Abstract
The paper addresses the motion planning problem of legged robots. Kinematic models of these robots are stratified, i.e. the equations of motion differ on different strata. An improved version of the motion planning algorithm proposed in the literature is compared with two alternative solutions via the example of the six-legged (hexapod) robot. The first alternative solution uses explicit integration of the vector fields while the second one exploits the flatness of a restricted subsystem.
| Item Type: | Article |
|---|---|
| Journal or Publication Title: | Acta cybernetica |
| Date: | 2001 |
| Volume: | 15 |
| Number: | 2 |
| ISSN: | 0324-721X |
| Page Range: | pp. 225-240 |
| Language: | English |
| Place of Publication: | Szeged |
| Event Title: | Conference for PhD Students in Computer Science (2.) (2000) (Szeged) |
| Related URLs: | http://acta.bibl.u-szeged.hu/38512/ |
| Uncontrolled Keywords: | Számítástechnika, Kibernetika |
| Additional Information: | Bibliogr.: p. 239-240. ; összefoglalás angol nyelven |
| Subjects: | 01. Natural sciences 01. Natural sciences > 01.02. Computer and information sciences |
| Date Deposited: | 2016. Oct. 15. 12:25 |
| Last Modified: | 2022. Jun. 14. 12:42 |
| URI: | http://acta.bibl.u-szeged.hu/id/eprint/12675 |
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