Proceedings Vol. 11 (2005)
ENGINEERING MECHANICS 2005
NATIONAL CONFERENCE WITH INTERNATIONAL PARTICIPATION
May 9 – 12, 2005, Svratka, Czech Republic
;
May 9 – 12, 2005, Svratka, Czech Republic
Editors: Vladimír Fuis, Petr Krejčí and Tomáš Návrat
Copyright © 2005 Institute of Mechanics of Solids, Faculty of Mechanical Engineering, Bruno University of Technology, Brno
ISBN 80-85918-93-5 (printed)
ISSN 1805-8248 (printed)
ISSN 1805-8256 (electronic)
ISSN 1805-8248 (printed)
ISSN 1805-8256 (electronic)
list of papers scientific commitee
Path planning for four-legged walking robot using rapidly exploring random trees
Krejsa J., Věchet S.
pages 179 - +8p., full text
pages 179 - +8p., full text
There are several randomized methods for problem of path planning. Rapidly exploring random trees (RRT) is a method which can deal with constraints typical for legged walking robots, e.g. limitations in rotation step resolution. Paper describes the RRT method itself and its use for path planning of four-legged walking robot, including special failure case when robot is capable of only rotating in one direction. The method proved to be robust and fast.
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Text and facts may be copied and used freely, but credit should be given to these Proceedings.
All papers were reviewed by members of the scientific committee.
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