Motion Planning of Walking Robots Using Ordinal Optimization

  • Chen C
  • Kumar V
  • Luo Y
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A general approach for coordinating the legs of a multi-legged
statically stable walking machine on an uneven terrain. The method of
ordinal optimization is used to find a good motion plan for low travel
time that specifies the footholds and the gait of the walking machine.
Numerical simulations illustrate the approach and demonstrate that we
can find a good motion plan for uneven terrain with high complexity in a
reasonably short time

Author-supplied keywords

  • Motion planning
  • Optimization
  • Simulation
  • Walking robot

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  • Chun Hung Chen

  • Vijay Kumar

  • Yuh Chyun Luo

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