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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 of admissible and stable placements of such robots has size Q (n2) and can be constructed in O ( n2 log n) time and O (n2) space. Once has been constructed, we can efficiently solve several problems related to motion planning.
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Contributor : Rapport de Recherche Inria <>
Submitted on : Monday, May 29, 2006 - 11:49:37 AM
Last modification on : Saturday, January 27, 2018 - 1:31:34 AM
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  • HAL Id : inria-00077007, version 1



Jean-Daniel Boissonnat, Olivier Devillers, Franco Preparata, Leonbattista Donati. Motion planning of legged robots : the spider robot problem. [Research Report] RR-1767, INRIA. 1992. ⟨inria-00077007⟩



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