TY - GEN
T1 - Motion planning for a six-legged lunar robot
AU - Hauser, Kris
AU - Bretl, Timothy
AU - Latombe, Jean Claude
AU - Wilcox, Brian
PY - 2008
Y1 - 2008
N2 - This paper studies the motion of a large and highly mobile six-legged lunar vehicle called ATHLETE, developed by the Jet Propulsion Laboratory. This vehicle rolls on wheels when possible, but can use the wheels as feet to walk when necessary. While gaited walking may suffice for most situations, rough and steep terrain requires novel sequences of footsteps and postural adjustments that are specifically adapted to local geometric and physical properties. This paper presents a planner to compute these motions that combines graph searching techniques to generate a sequence of candidate footfalls with probabilistic sample-based planning to generate continuous motions to reach them. The viability of this approach is demonstrated in simulation on several example terrains, even one that requires rappelling.
AB - This paper studies the motion of a large and highly mobile six-legged lunar vehicle called ATHLETE, developed by the Jet Propulsion Laboratory. This vehicle rolls on wheels when possible, but can use the wheels as feet to walk when necessary. While gaited walking may suffice for most situations, rough and steep terrain requires novel sequences of footsteps and postural adjustments that are specifically adapted to local geometric and physical properties. This paper presents a planner to compute these motions that combines graph searching techniques to generate a sequence of candidate footfalls with probabilistic sample-based planning to generate continuous motions to reach them. The viability of this approach is demonstrated in simulation on several example terrains, even one that requires rappelling.
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U2 - 10.1007/978-3-540-68405-3_19
DO - 10.1007/978-3-540-68405-3_19
M3 - Conference contribution
AN - SCOPUS:53849136613
SN - 9783540684046
T3 - Springer Tracts in Advanced Robotics
SP - 301
EP - 316
BT - Algorithmic Foundation of Robotics VII - Selected Contributions of the Seventh International Workshop on the Algorithmic Foundations of Robotics
T2 - 7th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2006
Y2 - 16 July 2006 through 18 July 2006
ER -