Class 14 (May 19): HUMANOIDS, LEGGED ROBOTS,
AND DIGITAL ACTORS (2/2)

• Topics:
  
  - Foot placement
  - Stability constraint
  - Static vs. dynamic stability
• Required Readings:
• Quadruped robot:
  S. Hirose and O. Kunieda. Generalized Standard Foot Trajectory for a Quadruped Walking Vehicle. Int. J. of Robotics Research, 10(1):3-12, Feb. 1991. [Hardcopy already distributed in class.]
  
  
• Humanoid robot:
  J. Kuffner, S. Kagami, M. Inaba, and H. Inoue. Dynamically-Stable Motion Planning for Humanoid Robots. Proc. Humanoids, 2000. [ps]
  +
  J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue. Footstep Planning Among Obstacles for Biped Robots. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2001. [pdf]
  
  
  
• Other Readings:
• Spider robot (planning foot placement):
  J.D. Boissonnat, O. Devillers, L. Donati. Motion Planning of Legged Robots: The Spider Robot Problem. Int. J. of Computational Geometry and Applications, 5(1-2):3-20, 1995. [pdf]
• Other motion planning algorithm for legged robot
  C. Elsershaw and M. Yim. Motion Planning of Legged Vehicles in Unstructured Environment. Int. IEEE Conf. on Robotics and Automation, Seoul, Korea, 2002. [pdf]

· Powerpoint slides:

· Paper 1

· Paper 2