From spider robots to half disk robots

Jean-Daniel Boissonnat 1 Olivier Devillers 1 Sylvain Lazard 1
1 PRISME - Geometry, Algorithms and Robotics
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : We study the problem of computing the set F of accessible and stable placements of a spider robot. The body of this robot is a single point and the legs are line segments attached to the body. The robot can only put its feet on some regions, called the foothold regions. Moreover, the robot is subject to two constraints: Each leg has a maximal extension R (accessibility constraint) and the body of the robot must lie above the convex hull of its feet (stability constraint). We present an efficient algorithm to compute F. If the foothold regions are polygons with n edges in total, our algorithm computes F in O(n^2 log n) time and O(n^2 alpha(n)) space where alpha is the inverse of the Ackerman's function. Omega(n^2) is a lower bound for the size of F.
Type de document :
Communication dans un congrès
IEEE International Conference on Robotics and Automation, 1994, San Diego, United States. IEEE, pp.953-958, 1994
Liste complète des métadonnées

Littérature citée [9 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/inria-00442776
Contributeur : Sylvain Lazard <>
Soumis le : mardi 22 décembre 2009 - 15:06:46
Dernière modification le : samedi 27 janvier 2018 - 01:30:41
Document(s) archivé(s) le : vendredi 18 juin 2010 - 00:03:26

Fichiers

Spider_Robot_IEEE94.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : inria-00442776, version 1

Collections

Citation

Jean-Daniel Boissonnat, Olivier Devillers, Sylvain Lazard. From spider robots to half disk robots. IEEE International Conference on Robotics and Automation, 1994, San Diego, United States. IEEE, pp.953-958, 1994. 〈inria-00442776〉

Partager

Métriques

Consultations de la notice

193

Téléchargements de fichiers

112