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Planar Trajectory Planning for Hopping and Swinging Along Designated Ground Contacts

[+] Author Affiliations
Michael Kean, Raymond J. Cipra

Purdue University, West Lafayette, IN

Paper No. DETC2012-71327, pp. 1329-1338; 10 pages
doi:10.1115/DETC2012-71327
From:
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME

abstract

The study of the dynamics of hopping robots has generated provably stable control algorithms for steady state hopping. Similar studies have been successfully undertaken for swinging from a handhold. The resulting controllers are capable of stable steady state motion. There is room in the literature for the planning of transient paths, where exact ground contacts become important.

This work introduces a path planning approach targeted at transient motion for hopping and swinging robots. The dynamic and kinematics of the robot are described. The construction of a nominal path between the ground contacts is detailed beginning with energy calculations and continuing to a sequence of ballistic flights between the ground contacts.

This work is aimed at online path planning where there is incomplete knowledge about the full path. Rules are introduced to adapt the nominal trajectories and select a specific set of trajectories based on current knowledge of the path. Example paths are included to demonstrate the successful application of the approach.

Copyright © 2012 by ASME

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