Constrained Hopping Traversability Analysis on Non-Uniform Polygonal Chains

IEEE Access

卷:8

Saurabh Upadhyay¹  A. Pedro Aguiar² 

[1] Department of Aerospace Engineering, University of Bristol, Bristol, U.K.;

[2] Department of Electrical and Computer Engineering, Faculty of Engineering, University of Porto (FEUP), Porto, Portugal;

关键词: Hopping or jumping robots;    motion planning;    robot motion;    traversability analysis;   

DOI  :  10.1109/ACCESS.2020.2975114

来源: DOAJ

【 摘 要 】

We analyze the existence of constrained ballistic hopping paths on a nonuniform polygonal chain. This analysis has practical significance in constrained path planning applications for jumping robots where robot dynamic constraints, uneven surface structure, and non-uniform surface properties are considered. We derive closed-form conditions to satisfy i) damage-free robot landing ii) non-sliding of the robot iii) actuator saturation, and iv) intermediate terrain avoidance constraints. Using the closed-form conditions, we propose a traversability algorithm to determine the path existence between two given points on the polygonal chain. Correspondingly, a path generation approach is discussed to generate an optimal constrained hopping path with minimum number of intermediate hops and least take-off speed per hop. Applicability and viability of the proposed algorithms are demonstrated through computer simulations in a realistic terrain scenario with robot jumping motion uncertainties and disturbances.

【 授权许可】

Unknown