6脚ロボット操縦システムのためのAnytimeアルゴリズムを用いた脚配置計画

抄録

The teleoperation system for the hexapod robot and its footstep planning algorithm are proposed to assist the teleoperation of the walking on the environment cluttered with obstacles. In this paper, ARA* (Anytime Repairing A*) algorithm is implemented to the footstep planning for real time calculation. ARA* is one of the anytime algorithm to allow tuning heuristic search. By finding a sub-optimal solution in early time, it modifies the solution in the permitted time. The footstep patterns are limited in the conventional method, but since the search of the allowable landing point around the candidate of the footstep pattern is implemented, the pattern of obstacle avoidance is found easily without detour. The simulation result shows the effectiveness of the proposed teleoperation system.