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.
Type de document :
[Research Report] RR-1767, INRIA. 1992
Liste complète des métadonnées
Contributeur : Rapport de Recherche Inria <>
Soumis le : lundi 29 mai 2006 - 11:49:37
Dernière modification le : samedi 27 janvier 2018 - 01:31:34
Document(s) archivé(s) le : lundi 5 avril 2010 - 21:30:02



  • 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〉



Consultations de la notice


Téléchargements de fichiers