... and milling force, along with the identification of spindle gravity and center of mass. A robot posture optimization model is then formulated based on the force-induced error and motion smoothness, and solved using the artificial potential field method. Finally, a bi-level optimization algorithm is applied...

... slope terrain, and a robot obstacle avoidance gait planning based on the artificial potential field method is proposed. Finally, the slope walking experiment is carried out in the Robot Operating System. Findings The proposed method provides a solution for the efficient walking of robot under slope...

...Tianying Xu; Haibo Zhou; Shuaixia Tan; Zhiqiang Li; Xia Ju; Yichang Peng Purpose This paper aims to resolve issues of the traditional artificial potential field method, such as falling into local minima, low success rate and lack of ability to sense the obstacle shapes in the planning process...