Look Who it Was Random video

Anytime Hybrid Driving-Stepping Locomotion Planning

518 views · Published 6 August 2017 · 4:35 · Indexed 5 October 2026

Channel: nimbro · 2017 · Science & Technology

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Video attachement to paper 
Tobias Klamt and Sven Behnke: 
"Anytime Hybrid Driving-Stepping Locomotion Planning"
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, September 2017.
http://www.ais.uni-bonn.de/papers/IROS_2017_Klamt.pdf

Hybrid driving-stepping locomotion is an effective
approach for navigating in a variety of environments. Long,
sufficiently even distances can be quickly covered by driving
while obstacles can be overcome by stepping. Our quadruped
robot Momaro, with steerable pairs of wheels located at the end
of each of its compliant legs, allows such locomotion. Planning
respective paths attracted only little attention so far.
We propose a navigation planning method which generates
hybrid locomotion paths. The planner chooses driving mode
whenever possible and takes into account the detailed robot
footprint. If steps are required, the planner includes those.
To accelerate planning, steps are planned first as abstract
manoeuvres and are expanded afterwards into detailed motion
sequences. Our method ensures at all times that the robot stays
stable. Experiments show that the proposed planner is capable
of providing paths in feasible time, even for challenging terrain.

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