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Navigation planning for legged robots.

Chestnutt, Joel.

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Navigation planning for legged robots.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Navigation planning for legged robots./
Author:	Chestnutt, Joel.
Description:	117 p.
Notes:	Adviser: James Kuffner.
Contained By:	Dissertation Abstracts International69-02B.
Subject:	Engineering, Robotics. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3302999
ISBN:	9780549491880

Navigation planning for legged robots.
Chestnutt, Joel.

Navigation planning for legged robots. - 117 p.

Adviser: James Kuffner.

Thesis (Ph.D.)--Carnegie Mellon University, 2007.

As legged robots gain the abilities to walk, run, and balance on more than just flat, obstacle-free floors, they grow closer to fulfilling the potential of legged locomotion shown by biological systems. To truly fulfill this potential these robots must successfully traverse complicated, rough terrain, requiring the robots to step onto or over various features of the environment. Furthermore, when a robot must spend a significant amount of time supported by a single foot, the contact that foot makes with the ground is very important for stability, requiring that the robot properly assess foot placement to maintain balance during locomotion. This thesis addresses the problem of navigation for legged robots by using a global planning approach built on top of existing walking and running controllers. The planning process reasons about foot placement and contact configurations within the terrain, and the connectivity of those contact configurations. This thesis provides a general global navigation strategy for a wide range of legged robots through complicated environments, utilizing the advantages of their legs as well as ensuring their safety and stability during locomotion.

ISBN: 9780549491880Subjects--Topical Terms:

1018454
Engineering, Robotics.

Navigation planning for legged robots.
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020 $a 9780549491880
035 $a (UMI)AAI3302999
035 $a AAI3302999
040 $a UMI $c UMI
100 1 $a Chestnutt, Joel. $3 1264872
245 1 0 $a Navigation planning for legged robots.
300 $a 117 p.
500 $a Adviser: James Kuffner.
500 $a Source: Dissertation Abstracts International, Volume: 69-02, Section: B, page: 1303.
502 $a Thesis (Ph.D.)--Carnegie Mellon University, 2007.
520 $a As legged robots gain the abilities to walk, run, and balance on more than just flat, obstacle-free floors, they grow closer to fulfilling the potential of legged locomotion shown by biological systems. To truly fulfill this potential these robots must successfully traverse complicated, rough terrain, requiring the robots to step onto or over various features of the environment. Furthermore, when a robot must spend a significant amount of time supported by a single foot, the contact that foot makes with the ground is very important for stability, requiring that the robot properly assess foot placement to maintain balance during locomotion. This thesis addresses the problem of navigation for legged robots by using a global planning approach built on top of existing walking and running controllers. The planning process reasons about foot placement and contact configurations within the terrain, and the connectivity of those contact configurations. This thesis provides a general global navigation strategy for a wide range of legged robots through complicated environments, utilizing the advantages of their legs as well as ensuring their safety and stability during locomotion.
590 $a School code: 0041.
650 4 $a Engineering, Robotics. $3 1018454
690 $a 0771
710 2 $a Carnegie Mellon University. $3 1018096
773 0 $t Dissertation Abstracts International $g 69-02B.
790 $a 0041
790 1 0 $a Kuffner, James, $e advisor
791 $a Ph.D.
792 $a 2007
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3302999