Motion planning of legged robots: the spider robot problem

Abstract : We consider the problem of planning motions of a simple legged robot called the spider robot. The robot is modelled as a point where all its legs are attached, and the footholds where the robot can securely place its feet consist of a set of n points in the plane. We show that the space F of admissible and stable placements of such robots has size Θ(n^2) and can be constructed in O(n^2 log n) time and O(n^2) space. Once F has been constructed, we can efficiently solve several problems related to motion planning.
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International Journal of Computational Geometry and Applications, World Scientific Publishing, 1995, 5 (1), pp.3-20. 〈10.1142/S0218195995000027〉
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Contributeur : Olivier Devillers <>
Soumis le : mercredi 27 février 2013 - 11:37:43
Dernière modification le : samedi 27 janvier 2018 - 01:31:39

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Jean-Daniel Boissonnat, Olivier Devillers, Leonbattista Donati, Franco Preparata. Motion planning of legged robots: the spider robot problem. International Journal of Computational Geometry and Applications, World Scientific Publishing, 1995, 5 (1), pp.3-20. 〈10.1142/S0218195995000027〉. 〈hal-00795083〉

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