Title: Motion planning for a six-legged robot
Language: English
Authors: Wimmer, Bernhard 
Qualification level: Diploma
Advisor: Bartocci, Ezio  
Issue Date: 2017
Number of Pages: 88
Qualification level: Diploma
Motion planning refers to the process of translating high-level specifications of tasks into low-level sequences of control inputs for a robot's actuators. Legged robots, although more flexible with respect to wheeled robots in uneven and cluttered environments, are a very challenging application domain for motion planning. Such systems may benefit from the use of a multi-modal planner that is able to switch between discrete modes corresponding to the set of contact points of the robot with the ground. Widely available single-mode planners can then used to find a continuous trajectory through a given mode. Kinematic constraints usually require such paths to be constrained to a submanifold of the configuration space, which limits the efficacy of common single-mode planners and requires them to be adapted for this environment.
Keywords: Cyber-Physical System; Hybrid System; Motion Planning; Robotics; Simulation; Kinematics; Dynamics
URI: https://resolver.obvsg.at/urn:nbn:at:at-ubtuw:1-99076
Library ID: AC13717692
Organisation: E182 - Institut für Technische Informatik 
Publication Type: Thesis
Appears in Collections:Thesis

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