離散値駆動型脚ロボットの足先軌道生成手法

抄録

This study focuses on the development of a trajectory generation method for multi-legged walking robots, constructed using discretely actuated robotic manipulators（D-ARMs）. This type of robot is designed to operate in hazardous and unknown terrains, leveraging the advantages of discrete actuation and redundancy of leg structure. The waypoints for the leg trajectory will be selected from the workspace of the D-ARM using A* algorithm.