Abstract
The footstep planning for the hexapod robot in obstacle environment is proposed in this paper. The tripod gate is employed as the basic gate so that the footstep planning problem becomes the combinational problem of stepping one by one like a bipedal robot gate. The triangle shape can represent the tripod and its motion and its apex indicate the footstep pattern and the landing position of the foot. The landing position should avoid obstacles. A* algorithm is implemented to solve the combination problem evaluating the cost function which consist of the number of the stepping, the length from the goal and the penalty of colliding obstacles. Simulation results show the appropriate footstep in the obstacle environment.
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