On-line and on-board planning and perception for quadrupedal locomotion

Carlos Mastalli; Ioannis Havoutis; Alexander W. Winkler; Darwin G. Caldwell; Claudio Semini

doi:10.1109/TePRA.2015.7219685

On-line and on-board planning and perception for quadrupedal locomotion

Carlos Mastalli, Ioannis Havoutis, Alexander W. Winkler, Darwin G. Caldwell, Claudio Semini

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

34 Citations (Scopus)

Abstract

We present a legged motion planning approach for quadrupedal locomotion over challenging terrain. We decompose the problem into body action planning and footstep planning. We use a lattice representation together with a set of defined body movement primitives for computing a body action plan. The lattice representation allows us to plan versatile movements that ensure feasibility for every possible plan. To this end, we propose a set of rules that define the footstep search regions and footstep sequence given a body action. We use Anytime Repairing A∗(ARA∗) search that guarantees bounded suboptimal plans. Our main contribution is a planning approach that generates on-line versatile movements. Experimental trials demonstrate the performance of our planning approach in a set of challenging terrain conditions. The terrain information and plans are computed on-line and on-board.

Original language	English
Title of host publication	2015 IEEE International Conference on Technologies for Practical Robot Applications
Publisher	IEEE
ISBN (Electronic)	9781479987573
DOIs	https://doi.org/10.1109/TePRA.2015.7219685
Publication status	Published - 27 Aug 2015
Event	2015 IEEE International Conference on Technologies for Practical Robot Applications - Woburn, United States Duration: 11 May 2015 → 12 May 2015

Conference

Conference	2015 IEEE International Conference on Technologies for Practical Robot Applications
Abbreviated title	TePRA 2015
Country/Territory	United States
City	Woburn
Period	11/05/15 → 12/05/15

Keywords

Dynamics
Lattices
Legged locomotion
Planning
Radio frequency
Search problems

ASJC Scopus subject areas

Artificial Intelligence
Computer Networks and Communications
Computer Science Applications
Computer Vision and Pattern Recognition
Electrical and Electronic Engineering

Access to Document

10.1109/TePRA.2015.7219685

Cite this

@inproceedings{8674f6406219481c868bb97529298dbc,

title = "On-line and on-board planning and perception for quadrupedal locomotion",

abstract = "We present a legged motion planning approach for quadrupedal locomotion over challenging terrain. We decompose the problem into body action planning and footstep planning. We use a lattice representation together with a set of defined body movement primitives for computing a body action plan. The lattice representation allows us to plan versatile movements that ensure feasibility for every possible plan. To this end, we propose a set of rules that define the footstep search regions and footstep sequence given a body action. We use Anytime Repairing A∗(ARA∗) search that guarantees bounded suboptimal plans. Our main contribution is a planning approach that generates on-line versatile movements. Experimental trials demonstrate the performance of our planning approach in a set of challenging terrain conditions. The terrain information and plans are computed on-line and on-board.",

keywords = "Dynamics, Lattices, Legged locomotion, Planning, Radio frequency, Search problems",

author = "Carlos Mastalli and Ioannis Havoutis and Winkler, {Alexander W.} and Caldwell, {Darwin G.} and Claudio Semini",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 2015 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2015 ; Conference date: 11-05-2015 Through 12-05-2015",

year = "2015",

month = aug,

day = "27",

doi = "10.1109/TePRA.2015.7219685",

language = "English",

booktitle = "2015 IEEE International Conference on Technologies for Practical Robot Applications",

publisher = "IEEE",

address = "United States",

}

Mastalli, C, Havoutis, I, Winkler, AW, Caldwell, DG & Semini, C 2015, On-line and on-board planning and perception for quadrupedal locomotion. in 2015 IEEE International Conference on Technologies for Practical Robot Applications., 7219685, IEEE, 2015 IEEE International Conference on Technologies for Practical Robot Applications, Woburn, Massachusetts, United States, 11/05/15. https://doi.org/10.1109/TePRA.2015.7219685

TY - GEN

T1 - On-line and on-board planning and perception for quadrupedal locomotion

AU - Mastalli, Carlos

AU - Havoutis, Ioannis

AU - Winkler, Alexander W.

AU - Caldwell, Darwin G.

AU - Semini, Claudio

PY - 2015/8/27

Y1 - 2015/8/27

N2 - We present a legged motion planning approach for quadrupedal locomotion over challenging terrain. We decompose the problem into body action planning and footstep planning. We use a lattice representation together with a set of defined body movement primitives for computing a body action plan. The lattice representation allows us to plan versatile movements that ensure feasibility for every possible plan. To this end, we propose a set of rules that define the footstep search regions and footstep sequence given a body action. We use Anytime Repairing A∗(ARA∗) search that guarantees bounded suboptimal plans. Our main contribution is a planning approach that generates on-line versatile movements. Experimental trials demonstrate the performance of our planning approach in a set of challenging terrain conditions. The terrain information and plans are computed on-line and on-board.

AB - We present a legged motion planning approach for quadrupedal locomotion over challenging terrain. We decompose the problem into body action planning and footstep planning. We use a lattice representation together with a set of defined body movement primitives for computing a body action plan. The lattice representation allows us to plan versatile movements that ensure feasibility for every possible plan. To this end, we propose a set of rules that define the footstep search regions and footstep sequence given a body action. We use Anytime Repairing A∗(ARA∗) search that guarantees bounded suboptimal plans. Our main contribution is a planning approach that generates on-line versatile movements. Experimental trials demonstrate the performance of our planning approach in a set of challenging terrain conditions. The terrain information and plans are computed on-line and on-board.

KW - Dynamics

KW - Lattices

KW - Legged locomotion

KW - Planning

KW - Radio frequency

KW - Search problems

UR - http://www.scopus.com/inward/record.url?scp=84949963181&partnerID=8YFLogxK

U2 - 10.1109/TePRA.2015.7219685

DO - 10.1109/TePRA.2015.7219685

M3 - Conference contribution

AN - SCOPUS:84949963181

BT - 2015 IEEE International Conference on Technologies for Practical Robot Applications

PB - IEEE

T2 - 2015 IEEE International Conference on Technologies for Practical Robot Applications

Y2 - 11 May 2015 through 12 May 2015

ER -

On-line and on-board planning and perception for quadrupedal locomotion

Abstract

Conference

Keywords

ASJC Scopus subject areas

Access to Document

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