Motion planning for spider robots
Jean Daniel Boissonnat, Olivier Devillers, Leonbattista Donati, F. P. Preparata · 2003
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.>