Footstep planning for humanoid robots among obstacles of various types

Yasar Ayaz, Takuya Owa, Teppei Tsujita, Atsushi Konno, Khalid Munawar, Masaru Uchiyama

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    7 Citations (Scopus)

    Abstract

    The unique ability of humanoid robots to step over or upon obstacles is left unexploited if ordinary mobile robot navigation strategies are used for humanoids as well. Recently presented path planning strategies that make use of this capability, however, are very time consuming due to high computational complexity. We have presented a novel approach to humanoid robot footstep planning in obstacle cluttered environments that employs a human-like approach to terrain traversal. This paper mainly centers on providing a proof of concept for the algorithm while also bringing about some improvements. Unlike previous statically stable simulation work, here we present footstep plans including dynamic walk together with practical results of HRP-2 humanoid robot navigating in various scenarios with different obstacle characteristics. These also include catering for body sway dynamics as well as planning and executing stepping over obstacles encountered at angles not perpendicular to the robot's line of motion.

    Original languageEnglish
    Title of host publication9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09
    Pages361-366
    Number of pages6
    DOIs
    Publication statusPublished - 2009 Dec 1
    Event9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09 - Paris, France
    Duration: 2009 Dec 72009 Dec 10

    Publication series

    Name9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09

    Other

    Other9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09
    CountryFrance
    CityParis
    Period09/12/709/12/10

    ASJC Scopus subject areas

    • Computer Science(all)

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