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Carnegie Mellon Robotics Institute

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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.

Notes

Associated Center(s) / Consortia: Field Robotics Center

Associated Project(s): Dante II

Text Reference

David Wettergreen and Chuck Thorpe, "Developing Planning and Reactive Control for a Hexapod Robot," Proceedings of ICRA '96, April, 1996, pp. 2718 - 2723.

BibTeX Reference

@inproceedings{Wettergreen_1996_3212,
   author = "David Wettergreen and Chuck Thorpe",
   title = "Developing Planning and Reactive Control for a Hexapod Robot",
   booktitle = "Proceedings of ICRA '96",
   pages = "2718 - 2723",
   month = "April",
   year = "1996",
   volume = "3",
}

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