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http://dx.doi.org/10.7837/kosomes.2017.23.5.574

Optimizing Path Finding based on Dijkstra's Algorithm for a Quadruped Walking Robot TITAN-VIII  

Nguyen, Van Tien (Graduate School, Mokpo National Maritime University)
Ahn, Byong-Won (Division of Marine Engineering, Mokpo National Maritime University)
Bae, Cherl-O (Division of Marine Engineering & Coast Guard, Mokpo National Maritime University)
Publication Information
Journal of the Korean Society of Marine Environment & Safety / v.23, no.5, 2017 , pp. 574-584 More about this Journal
Abstract
In this paper, the optimizing path finding control method is studied for a Legged-robot. It's named TITAN-VIII. It has a lot of advantages over the wheeled robot in the ability to walk freely on an irregular ground. However, the moving speed on the ground of the Legged-robot is slower than the Wheeled-robot's. Consequently, the purpose of the method is presented in this paper to minimize its time when it walks to a goal. It find the path, our approach is based on an algorithm which is called Dijkstra's algorithm. In the rest of paper, the various posture of the robot is discussed to keep the robot always in the statically stable. Based on above works, the math formulas are presented to determine the joint angles of the robot. After that an algorithm is designed to find and keep robot on the desired trajectory. Experimental results of the proposed method are demonstrated in the last of paper.
Keywords
Quadruped Walking Robot; Wheeled Robot; Optimizing path finding; Dijkstra's algorithm; Joint angle;
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