Human-like approach to footstep planning among obstacles for humanoid robots

Yasar Ayaz, Khalid Munawar, Mohammad Bilal Malik, Atsushi Konno, Masaru Uchiyama

    Research output: Contribution to journalArticlepeer-review

    12 Citations (Scopus)

    Abstract

    Unlike wheeled robots, humanoid robots are able to cross obstacles 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, global 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 the 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.

    Original languageEnglish
    Pages (from-to)125-149
    Number of pages25
    JournalInternational Journal of Humanoid Robotics
    Volume4
    Issue number1
    DOIs
    Publication statusPublished - 2007 Mar 1

    Keywords

    • Footstep planning
    • Machine intelligence
    • Robot motion planning

    ASJC Scopus subject areas

    • Mechanical Engineering
    • Artificial Intelligence

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