3 accepted papers
Hybrid legged-wheeled robots such as the CEN-TAURO, are capable of varying their footprint polygon to carry out various agile motions. This property can be advantageous for wheeled-only planning in cluttered spaces, which is our focus. In this paper, we present an improved algorithm that builds upon…
Hybrid legged-wheeled robots are able to adapt their leg configuration and height to vary their footprint polygons and go over obstacles or traverse narrow spaces. In this paper, we present a variable configuration wheeled motion planner based on the A* algorithm. It takes advantage of the agility o…
Bipedal robots have gained a lot of locomotion capabilities the past few years, especially in the control level. Navigation over complex and unstructured environments using exteroceptive perception, is still an active research topic. In this paper, we present a footstep planning system to produce fo…