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- W1968125515 abstract "Missions of walking robots in distant areas require use of the teleoperation mode. However, the capabilities of a human operator to sense the terrain and to control the robot are limited. Thus, a walking robot should have enough autonomy to take an advantage of its high locomotion capabilities in spite of a limited feedback from the remote operator. This paper presents a method for real-time motion planning on a rugged terrain. The proposed method employs several modules for planning the robot's path and trajectories of the feet, foothold selection, collision avoidance, and stability analysis. By using this method the robot can autonomously find a path to the desired position and discriminate between traversable and non-traversable areas. The rapidly exploring random trees concept is used as a backbone of the proposed solution. Results of simulations and experiments on the real robot are presented." @default.
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- W1968125515 date "2011-01-01" @default.
- W1968125515 modified "2023-10-09" @default.
- W1968125515 title "Integrated Motion Planning for a Hexapod Robot Walking on Rough Terrain" @default.
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- W1968125515 doi "https://doi.org/10.3182/20110828-6-it-1002.02234" @default.
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