The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM
Online ISSN : 2424-3116
Event-based climbing motion planning for a quadruped robot
Xiao SunKenji HashimotoAyanori KoizumiShinya HamamotoTakashi MatsuzawaTomotaka TeramachiAtsuo Takanishi
会議録・要旨集 認証あり

p. 78-79


This paper explains a motion planning strategy that is not based on time but on "event", which can be explained as the path that the end-effector of robot tracks in our study. Arc-length parameterization is used in this paper to convert a time-based planning into an event-based planning. With our planning, it is possible to choose various time planning on the same given path so that tasks such as dynamic obstacle avoidance and performance test of motors become available. Simulation results about time planning implemented to a given path verifies the effectiveness of our event-based planning.

© 2015 一般社団法人 日本機械学会
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