Motion planning of walking robots using ordinal optimization
- 1 June 1998
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Robotics & Automation Magazine
- Vol. 5 (2) , 22-32
- https://doi.org/10.1109/100.692337
Abstract
A general approach for coordinating the legs of a multi-legged statically stable walking machine on an uneven terrain. The method of ordinal optimization is used to find a good motion plan for low travel time that specifies the footholds and the gait of the walking machine. Numerical simulations illustrate the approach and demonstrate that we can find a good motion plan for uneven terrain with high complexity in a reasonably short time.Keywords
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