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This paper presents an algorithm for planning the foothold positions of quadruped robots on irregular terrain. The input to the algorithm is the robot kinematics, the terrain geometry, a required motion path, as well as initial posture. Our goal is to develop general algorithm that navigate quadruped robots quasi-statically over rough terrain, using an APF(More)
The ability of a mobile robot to transport itself over various terrains is an important goal in developing of walking robots. This project aims to design a generic algorithm which would be able to plan the steps of a given walking quadruped robot over irregular terrain, i.e., given the kinematic structure of the robot and point of destination or desired(More)
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