Constrained Hopping Traversability Analysis on Non-Uniform Polygonal Chains

Saurabh Upadhyay*, A. Pedro Aguiar

*Corresponding author for this work

Research output: Contribution to journalArticle (Academic Journal)peer-review

1 Citation (Scopus)
30 Downloads (Pure)


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.

Original languageEnglish
Article number9003191
Pages (from-to)36691-36701
Number of pages11
JournalIEEE Access
Early online date19 Feb 2020
Publication statusE-pub ahead of print - 19 Feb 2020


  • Hopping or jumping robots
  • motion planning
  • robot motion
  • traversability analysis

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