대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1997년도 추계학술대회 논문집 학회본부
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- Pages.576-580
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- 1997
3차원 장애물에서의 이족보행로봇을 위한 이동경로계획 알고리즘의 설계
A Design of Path Planning Algorithm for Biped Walking Robot in 3-D Obstacle Environment
- Min, Seung-Ki (Dept. of Control and Instrumentation Eno., MyonoJi University) ;
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Kim, Dae-Won
(Dept. of Control and Instrumentation Eno., MyonoJi University)
- 발행 : 1997.11.29
초록
This paper presents a path planning algorithm for biped walking robot in 3-D workspace. Since the biped walking robot can generate path on some 3-D obstacles that cannot generate path in case of mobile robot, we have to make a new path planning algorithms. A 3-D-to-2-D mapping algorithm is proposed and two kinds of path planning algorithms are also proposed. They make it easier to generate an efficient path for biped walking robot under given environment. Some simulation results are shown to prove the effectiveness of proposed algorithms.
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