Generating real-time trajectories for a planar biped robot crossing a wide ditch with landing uncertainties

摘要: Ditch crossing is one of the essential capabilities required for a biped robot in disaster management and search rescue operations. Present work focuses on wide ditch with landing uncertainties by an under-actuated planar five degrees freedom. We consider as when ankle to stretch cross it at least equal leg length robot. Since locomotion uncertain environments requires real-time planning, this paper, we present new approach generating joint trajectories using control constraints not explicitly dependent time, considering impact, dynamic balance, friction. As part approach, introduce novel concept called point feasibility bringing complete rest end crossing. study influence initial posture impact net energy consumption. Through simulations, found best postures efficiently width 1.05 m, less without singularities. Finally, demonstrate advantage proposed surface friction same both sides ditch.