Whole-Body Motion Planning for Walking Excavators
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Date
2019
Publication Type
Conference Paper
ETH Bibliography
yes
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Abstract
This article presents a trajectory planning framework for all-terrain vehicles with legs and wheels such as walking excavators. Our formulation takes into account the whole body of the robot while computing the plans for locomotion. Hence, we can produce motion plans over the rough terrain that would be hard to plan without considering all Degrees of Freedom (DoF) simultaneously. Our planner can also optimize over the contact schedule for all limbs, thereby finding the feasible motions even for the infeasible initial contact schedule. Furthermore, we introduce a novel formulation of the support area constraint. We generate plans for a Menzi Muck M545, a 31 DoF walking excavator with five limbs: four wheeled legs and an arm. We show motion plans for traversing a variety of terrains that require whole-body planning. To the best of our knowledge, this is the first work that addresses motion planning in rough terrain for vehicles with legs and wheels.
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Publication status
published
Editor
Book title
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Journal / series
Volume
Pages / Article No.
2292 - 2299
Publisher
IEEE
Event
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019)
Edition / version
Methods
Software
Geographic location
Date collected
Date created
Subject
Organisational unit
09570 - Hutter, Marco / Hutter, Marco
02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
Notes
Conference lecture held on November 5, 2019
Funding
182132 - History of Vernacular mathematics in medieval South India (Malayalam and Tamil, 9th-16th centuries) (SNF)