We analyze the existence of constrained ballistic hopping paths on a nonuniform polygonal chain. This analysis has practical significance in constrained path planning applications for jumping robots where robot dynamic… Click to show full abstract
We analyze the existence of constrained ballistic hopping paths on a nonuniform polygonal chain. This analysis has practical significance in constrained path planning applications for jumping robots where robot dynamic constraints, uneven surface structure, and non-uniform surface properties are considered. We derive closed-form conditions to satisfy i) damage-free robot landing ii) non-sliding of the robot iii) actuator saturation, and iv) intermediate terrain avoidance constraints. Using the closed-form conditions, we propose a traversability algorithm to determine the path existence between two given points on the polygonal chain. Correspondingly, a path generation approach is discussed to generate an optimal constrained hopping path with minimum number of intermediate hops and least take-off speed per hop. Applicability and viability of the proposed algorithms are demonstrated through computer simulations in a realistic terrain scenario with robot jumping motion uncertainties and disturbances.
               
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