ICRA'09 Paper Abstract


Paper FrC1.4

Vernaza, Paul (University of Pennsylvania), Likhachev, Maxim (University of Pennsylvania), Bhattacharya, Subhrajit (University of Pennsylvania), Chitta, Sachin (Willow Garage Inc.), Kushleyev, Aleksandr (University of Pennsylvania), Lee, Daniel D. (University of Pennsylvania)

Search-Based Planning for a Legged Robot Over Rough Terrain

Scheduled for presentation during the Regular Sessions "Legged Robots and Humanoid Locomotion - III" (FrC1), Friday, May 15, 2009, 14:30−14:50, MainHall

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Legged Robots and Humanoid Locomotion, Motion and Path Planning


We present a search-based planning approach for controlling a quadrupedal robot over rough terrain. Given a start and goal position, we consider the problem of generating a complete joint trajectory that will result in the legged robot successfully moving from the start to the goal. We decompose the problem into two main phases: an initial global planning phase, which results in a footstep trajectory; and an execution phase, which dynamically generates a joint trajectory to best execute the footstep trajectory. We show how R* search can be employed to generate high-quality global plans in the high-dimensional space of footstep trajectories. Results show that the global plans coupled with the joint controller result in a system robust enough to deal with a variety of terrains.



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