Developing Planning and Reactive Control for a Hexapod Robot - Robotics Institute Carnegie Mellon University

Developing Planning and Reactive Control for a Hexapod Robot

David Wettergreen and Chuck Thorpe
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 3, pp. 2718 - 2723, April, 1996

Abstract

We have designed an architecture that allows a gait planner to effectively control primitive walking behaviors. The behaviors ensure safe and efficient walking, even without planning; the addition of planning improves performance in rough terrain by allowing the robot to anticipate changes in its gait. We have implemented our approach and demonstrated it on a real robot, Dante II, and on a simulated hexapod with more complex kinematics. With the hexapod we can produce a variety of gaits and stably switch among them. We have attained performance improvement by using narrowly focused planning to guide behavior.

BibTeX

@conference{Wettergreen-1996-14126,
author = {David Wettergreen and Chuck Thorpe},
title = {Developing Planning and Reactive Control for a Hexapod Robot},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1996},
month = {April},
volume = {3},
pages = {2718 - 2723},
}