An Adaptive Action Model for Legged Navigation Planning

被引：46

作者：

Chestnutt, Joel ^{[1
]}

Nishiwaki, Koichi

Kuffner, James ^{[1
,2
]}

Kagami, Satoshi ^{[2
]}

机构：

[1] Carnegie Mellon Univ, Inst Robot, 5000 Forbes Ave, Pittsburgh, PA 15213 USA

[2] AIST Waterfront 3F, Digital Human Res Ctr, Tokyo 135-0064, Japan

来源：

HUMANOIDS: 2007 7TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS | 2007年

关键词：

D O I：

10.1109/ICHR.2007.4813868

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Navigation planning for legged robots via foot placement planning has enabled several humanoids to traverse interesting environments autonomously. In this paper we explore methods of adapting foot placement actions to the terrain during the search process, allowing for fuller use of the robot's capabilities, and better resulting paths. We show the results of these adaptive action models for both the humanoid HRP-2 and the quadruped LittleDog.

引用

页码：196 / +

页数：3

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