PCG: A foothold selection algorithm for spider robot locomotion in 2D tunnels

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2003, Pages 2966-2972

  Shapiro, Amir ^a   Rimon, Elon ^a  

^a TECHNION ISRAEL INSTITUTE OF TECHNOLOGY   (Israel)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; FRICTION; MOBILE ROBOTS; MOTION PLANNING; PIECEWISE LINEAR TECHNIQUES; ROBOT PROGRAMMING;

CONVEX PROGRAMMING; PIECEWISE LINEAR GEOMETRY; SPIDER ROBOT; SPIDER ROBOT LOCOMOTION; TWO DIMENSIONAL TUNNELS;

ROBOTICS;

EID: 0344033873     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (15)

1. J.-D. Boissonnat, O. Devillers, and S. Lazard. Motion planning of legged robots. SIAM J. of Computing, 30:218-246, 2000.
2. S. Hirose and O. Kunieda. Generalized standard foot trajectory for a quadruped walking vehicle. Int. J. of Robotics Research, 10(1):2-13, 1991.
3. J. Hong, G. Lafferriere, B. Mishra, and X. Tan. Fine manipulation with multifinger hands. Icra, 1568-1573, 1990.
4. J. K. Lee and S. M. Song. Path planning and gait of walking machine in an obstacle-strewn environment. J. Robotics Sys., 8:801-827, 1991.
5. S. Leveroni and K. Salisbury. Reorienting objects with a robot hand using grasp gaits. 7th Int. Symp. on Robotics Research, 2-15, 1995.
6. A. Madhani and S. Dubowsky. Motion planning of mobile multi-limb robotic systems subject to force and friction constraints. Icra, 233-239, 1992.
7. D. Marhefka and D. Orin. Gait planning for energy efficiency in walking machines. Icra, 474-480, 1997.
8. V.-D. Nguyen. Constructing force closure grasps. Int. J. of Robotics Research, 7(3):3-16, 1988.
9. F. Pfeiffer, T. Rossmann, N. Bolotnik, F. Chernousko, G. Kostin. Simulation and optimization of regular motions of a tube-crawling robot. Multibody Sys. Dyn., 5:159-184, 2001.
10. J. Ponce and B. Faverjon. On computing three-finger force closure grasps of polygonal objects. IEEE Trans. on Robotics and Aut., 11(6):868-881, 1995.
11. J. Savall, A. Avello, and L. Briones. Two compact robots for remote inspection of hazardous areas in nuclear power plants. Icra, 1993-1998, 1999.
12. A. Shapiro and E. Rimon. Pcg: A foothold selection algorithm for spider robot locomotion in 2D tunnels. Tech. report, Dept. of ME, Technion, http://www.technion.ac.il/~robots, July 2002.
13. T. J. Stone, D. S. Cook, B. L. Luk. Robug III-an 8-legged teleoperated walking and climbing robot for disordered hazardous environments. Mech. Incorp. Engineer, 7(2):37-41, 1995.
14. K. van der Doel and D. K. Pai. Performance measures for locomotion robots. J. of Robotic Systems, 14(2):135-147, 1997.
15. Y. Wei and B. Goodwine. Stratified motion planning on non-smooth domains with application to robotic legged locomotion and manipulation. Icra, 3546-3551, 2002.