NDLI: Search-based Foot Placement for Quadrupedal Traversal of Challenging Terrain

Content Provider	IEEE Xplore Digital Library
Author	Mitchell, B. Hofmann, A.G. Williams, B.C.
Copyright Year	2007
Description	Author affiliation: Comput. Sci. & Artificial Intelligence Lab., MIT, Cambridge, MA (Mitchell, B.; Hofmann, A.G.; Williams, B.C.)
Abstract	A primary motivation for employing quadrupedal robots is that their morphology allows them to traverse difficult terrain. For example, a mountain goat, by carefully choosing its foot placements, is able to scale steep cliff sides. In contrast, wheeled robots have difficulty traveling over non-level terrain, and bipedal robots face stability challenges on rough terrain, even at low velocities. In order for quadrupeds to perform traversals over rough terrain in a stable manner, robust navigation strategies are needed that allow the robots to take full advantage of their physical capabilities. Foot placement and body pose planning is one of the most challenging problems associated with such navigation. We approach this problem as a combinatoric search over candidate foot placements and body poses. The search returns the sequence of kinematically feasible steps with the lowest cost as determined by their deviation from the terrain-independent nominal steps. Due to the large search domain in this problem and the speed required by real time robots, searching for the true optimal solution is computationally intractable. Therefore, we use a limited-horizon best-first search that quickly finds a near-optimal feasible solution. We show, through a series of tests, that this algorithm is sufficient for traversing challenging terrain, with obstacle heights approaching the leg length of the quadruped.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	1461
Ending Page	1466
File Size	665714
Page Count	6
File Format	PDF
ISBN	1424406013
ISSN	10504729
DOI	10.1109/ROBOT.2007.363190
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Foot Mobile robots Navigation Morphology Stability Robustness Combinatorial mathematics Costs Testing Leg
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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