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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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Contributor : Olivier Devillers Connect in order to contact the contributor
Submitted on : Wednesday, February 27, 2013 - 11:37:43 AM
Last modification on : Saturday, November 19, 2022 - 3:59:02 AM



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



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