DeepAI AI Chat
Log In Sign Up

Geometric Heat Flow Method for Legged Locomotion Planning

01/20/2021
by   Yinai Fan, et al.
0

We propose in this paper a motion planning method for legged robot locomotion based on Geometric Heat Flow framework. The motion planning task is challenging due to the hybrid nature of dynamics and contact constraints. We encode the hybrid dynamics and constraints into Riemannian inner product, and this inner product is defined so that short curves correspond to admissible motions for the system. We rely on the affine geometric heat flow to deform an arbitrary path connecting the desired initial and final states to this admissible motion. The method is able to automatically find the trajectory of robot's center of mass, feet contact positions and forces on uneven terrain.

READ FULL TEXT
03/09/2019

Locomotion Planning through a Hybrid Bayesian Trajectory Optimization

Locomotion planning for legged systems requires reasoning about suitable...
12/09/2020

Reconstruction of Backbone Curves for Snake Robots

Snake robots composed of alternating single-axis pitch and yaw joints ha...
10/07/2017

Modelling and Path Planning of Snake Robot in cluttered environment

Studying snake robot locomotion in a cluttered environment has been a co...
12/07/2017

The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP)

The motivation of our current research is to devise motion planners for ...
01/29/2019

A Homotopy Method for Motion Planning

We propose a novel method for motion planning and illustrate its impleme...
08/14/2021

The Geometric Structure of Externally Actuated Planar Locomoting Systems in Ambient Media

Robots often interact with the world via attached parts such as wheels, ...