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Bien, Zeungnam
Intelligent Robot Control System Lab
Research Interests
  • Intelligent Control
  • Learning System Methodologies
  • Assistive Robotics
  • Smart Home System

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불규칙 지형에서 사가 보행 로보트의 경로 계획 방법

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Title
불규칙 지형에서 사가 보행 로보트의 경로 계획 방법
Other Titles
A Method of Path Planning for a Quadruped Walking Robot on Irregular Terrain
Author
Bien, ZeungnamLee, Y
Keywords
사각 보행 로보트; 걸음새; 물결-게 걸음새; 경로 계획; 인공 계; Quadruped Walking Robot; Gait; Wave-Crab Gait; Path Planning; Artificial Field
Issue Date
1994-02
Publisher
Korean Institute of Electrical Engineers
Citation
TRANSACTIONS OF THE KOREAN INSTITUTE OF ELECTRICAL ENGINEERS, v.43, no.2, pp.329 - 338
Abstract
This paper presents a novel method of path planning for a quadruped walking robot on irregular terrain. In the previous study on the path planning problem of mobile robots, it has been usually focused on the collision-free path planning for wheeled robots. The path planning problem of legged roboth, however, has unique aspects from the point of viw that the legged robot can cross over the obstacles and the gait constraint should be considered in the process of planning a path. To resolve this unique problem systematically, a new concept of the artificial intensity field of light is numerically constructed over the configuration space of the robot including the transformed obstacles and a feasible path is sought in the field. Also, the efficiency of the proposed method is shown by various simulation results
URI
https://scholarworks.unist.ac.kr/handle/201301/9214
ISSN
1975-8359
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