Legged Locomotion Planning Computer Science腿式运动规划计算机科学.pptxVIP

Legged Locomotion Planning Kang Zhao B659 Intelligent Robotics Spring 2013 1 Planning Biped Navigation Strategies in Complex Environments Joel Chestnutt, James Kuffner, Koichi Nishiwaki, Satoshi Kagami 2 Global terrain map M Goal Primitive set {Trans} Search algorithm 3 Algorithm - Biped Robot Model 4 Algorithm- State transitions 5 Algorithm- Environment 6 Algorithm- State Evaluation 7 Slope angle Roughness Stability Largest bump Safety 8 The slope angle of the surface at the candidate location. Perfectly horizontal surfaces are desired. The slope angle is computed by fitting a plane h(x, y)