TY - GEN
T1 - Human-like approach to footstep planning among obstacles for humanoid robots
AU - Ayaz, Yasar
AU - Munawar, Khalid
AU - Bilal Malik, M.
AU - Konno, Atsushi
AU - Uchiyama, Masaru
PY - 2006/12/1
Y1 - 2006/12/1
N2 - Unlike wheeled robots, humanoid robots are able to overcome obstacles in the environment by stepping over or upon them. Conventional 2D methods for robot navigation fail to exploit this unique ability of humanoids and thus design trajectories only by circumventing obstacles. Recently, globalized algorithms have been presented that take into account this feature of humanoids. However, due to high computational complexity, most of them are very time consuming. In this paper we present a new approach to footstep planning in obstacle cluttered environments that employs a human-like strategy to terrain traversal. Simulation results of its implementation on a model of Saika-3 humanoid robot are also presented. The algorithm, being one of reactive nature, refutes previous claims that reactive algorithms fail to find successful paths in complex obstacle cluttered environments.
AB - Unlike wheeled robots, humanoid robots are able to overcome obstacles in the environment by stepping over or upon them. Conventional 2D methods for robot navigation fail to exploit this unique ability of humanoids and thus design trajectories only by circumventing obstacles. Recently, globalized algorithms have been presented that take into account this feature of humanoids. However, due to high computational complexity, most of them are very time consuming. In this paper we present a new approach to footstep planning in obstacle cluttered environments that employs a human-like strategy to terrain traversal. Simulation results of its implementation on a model of Saika-3 humanoid robot are also presented. The algorithm, being one of reactive nature, refutes previous claims that reactive algorithms fail to find successful paths in complex obstacle cluttered environments.
UR - http://www.scopus.com/inward/record.url?scp=34248568362&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34248568362&partnerID=8YFLogxK
U2 - 10.1109/IROS.2006.282183
DO - 10.1109/IROS.2006.282183
M3 - Conference contribution
AN - SCOPUS:34248568362
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5490
EP - 5495
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -