高技术通讯（英文版）2008，Vol.14Issue(4)：405-410,6.
Two-grade search mechanism based motion planning of a three-limbed robot
Two-grade search mechanism based motion planning of a three-limbed robot
摘要
Abstract
A novel three-limbed robot was described and its motion planning method was discussed. After the introduction of the robot mechanical structure and the human-robot interface, a two-grade search mechanism based motion planning method was proposed. The first-grade search method using genetic algorithm tries to find an optimized target position and orientation of the three-limbed robot. The second-grade search method using virtual compliance tries to avoid the collision between the three-limbed robot and obstacles in a dynamic environment. Experiment shows the feasibility of the two-grade search mechanism and proves that the proposed motion planning method can be used to solve the motion planning problem of the redundant three-limbed robot without deficiencies of traditional genetic algorithm.关键词
three-limbed robot/motion planning/virtual compliance/human-robot interfaceKey words
three-limbed robot/motion planning/virtual compliance/human-robot interface分类
信息技术与安全科学引用本文复制引用
Pang Ming,Zang Xizhe,Yan Jihong,Zhao Jie..Two-grade search mechanism based motion planning of a three-limbed robot[J].高技术通讯（英文版）,2008,14(4):405-410,6.基金项目
National High Technology Research and Development Programme of China (No. 2006AA04Z245) and Program for Changjiang Scholars and Innovative Research Team in University (PCSIRT) (No. IRT0423). （No. 2006AA04Z245）
