Motion planning for spider robots

Abstract

The authors consider a simple instance of the problem of planning motions of legged robots. The robot is modeled as a point where all its legs are attached, and the footholds where the robot can securely place its feet consist of a set of points in the plane. Efficient algorithms to compute stable motions in such situations are presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>