TY - GEN
T1 - Footstep planning for humanoid robots among obstacles of various types
AU - Ayaz, Yasar
AU - Owa, Takuya
AU - Tsujita, Teppei
AU - Konno, Atsushi
AU - Munawar, Khalid
AU - Uchiyama, Masaru
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=77950548805&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77950548805&partnerID=8YFLogxK
U2 - 10.1109/ICHR.2009.5379548
DO - 10.1109/ICHR.2009.5379548
M3 - Conference contribution
AN - SCOPUS:77950548805
SN - 9781424445882
T3 - 9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09
SP - 361
EP - 366
BT - 9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09
T2 - 9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09
Y2 - 7 December 2009 through 10 December 2009
ER -