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.
Document type :
Journal articles
Complete list of metadatas

https://hal.inria.fr/hal-00795083
Contributor : Olivier Devillers <>
Submitted on : Wednesday, February 27, 2013 - 11:37:43 AM
Last modification on : Saturday, January 27, 2018 - 1:31:39 AM

Links full text

Identifiers

Collections

Citation

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⟩

Share

Metrics

Record views

299