Volume 27 Issue 11-12 - Publication Date: December 2008

Motion Planning for Legged Robots on Varied Terrain

Kris Hauser, Timothy Bretl, Jean-Claude Latombe, Kensuke Harada and Brian Wilcox

The International Journal of Robotics Research 2008 27: 1325-1349

Downloadable Files

HRP-2 taking a single step to place a foot - ext1.mpg (1.1mb)
HRP-2 taking a single step to remove a foot - ext2.mpg (1.3mb)
ATHLETE walking with an alternating tripod gait on smooth terrain (feasible) - ext3.mpg (2.8mb)
ATHLETE walking with an alternating tripod gait on uneven terrain (infeasible). When the chassis is green, the configuration is feasible. When the chassis changes color, one or more constraints have been violated - ext4.mpg (3.9mb)
ATHLETE walking with no fixed gait on smooth terrain - ext5.mpg (3.7mb)
ATHLETE walking with no fixed gait on uneven terrain - ext6.mpg (4.1mb)
ATHLETE rappelling down an irregular 60° slope with no fixed gait on smooth terrain - ext7.mpg (3.5mb)
HRP-2 on slightly uneven terrain (planar walking primitive) - ext8.mpg (3.8mb)
HRP-2 climbing a ladder with uneven rungs (ladder-climbing primitive) - ext9.mpg (1.2mb)
HRP-2 traversing large boulders (side-step primitive) - ext10.mpg (3.0mb)
HRP-2 on steep and uneven terrain (multiple primitives) - ext11.mpg (5.1mb)

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