@inproceedings{AhmadD2008,
  title = {Probabilistic Roadmap Method and Real Time Gait Changing Technique Implementation for Travel Time Optimization on a Designed Six-legged Robot},
  abstract = {This paper presents design and development of a six legged
   robot with a total of 12 degrees of freedom, two in each
   limb and then an implementation of 'obstacle and undulated
   terrain-based' probabilistic roadmap method for motion
   planning of this hexaped which is able to negotiate large
   undulations as obstacles. The novelty in this implementation
   is that, it doesnt require the complete view of the robot's
   configuration space at any given time during the traversal. It generates a map of the area that is in visibility range and finds the best suitable point in that field of view to make it as the next node of the algorithm. A particular category of undulations which are small enough are automatically 'run-over' as a part of the terrain and not considered as obstacles.
   The traversal between the nodes is optimized by taking the
   shortest path and the most optimum gait at that instance
   which the hexaped can assume. This is again a novel
   approach to have a real time gait changing technique to
   optimize the travel time. The hexaped limb can swing in the
   robot's X-Y plane and the lower link of the limb can move
   in robot's Z plane by an implementation of a four-bar
   mechanism. A GUI based server 'Yellow Ladybird'
   eventually which is the name of the hexaped, is made for
   real time monitoring and communicating to it the final
   destination co-ordinates.},
  pages = {1-5},
  year = {2008},
  slug = {ahmadd2008},
  author = {Ahmad, A and Dhang, N}
}