Publication
Navigation of a walking robot in natural environments
Conference Article
Conference
International Conference on Climbing and Walking Robots (CLAWAR)
Edition
2nd
Pages
423-432
Doc link
File
Abstract
The most relevant differences existing between wheeled and legged robots, from the point of view of the expected navigation tasks to be performed using each kind of locomotion, are reviewed. We propose a new framework for legged robot navigation that replaces many implicit assumptions usually made for wheeled robots by new ones that are better suited to legged robots. Based on this, specific techniques are proposed for navigation control, sensing and map usage, path planning, body movement, and gait generation.
Categories
robots.
Scientific reference
E. Celaya and J.M. Porta. Navigation of a walking robot in natural environments, 2nd International Conference on Climbing and Walking Robots, 1999, Portsmouth, Gran Bretanya, pp. 423-432, 1999, Professional Engineering Publishing Limited, Suffolk, Anglaterra.
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