Planning footsteps in obstacle cluttered environments

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

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

    8 Citations (Scopus)

    Abstract

    Humanoid robots posses the unique ability to cross obstacles by stepping over or upon them. However, conventional 2D methods for robot navigation fail to exploit it 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 illustrate our novel approach to footstep planning in obstacle cluttered environments that employs a human-like strategy to terrain traversal and report on progress towards its implementation on humanoid robot hardware. Unlike existing hardware executions of footstep planning approaches, we consider obstacles of non-zero height while planning. Specific strategies are adopted to cater for these, both in dodging obstacles by circumvention as well as in design of stepping over trajectories. Experimental results of its implementaion on HRP-2 humanoid robot are also presented.

    Original languageEnglish
    Title of host publication2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
    Pages156-161
    Number of pages6
    DOIs
    Publication statusPublished - 2009 Nov 4
    Event2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore, Singapore
    Duration: 2009 Jul 142009 Jul 17

    Publication series

    NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

    Other

    Other2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
    CountrySingapore
    CitySingapore
    Period09/7/1409/7/17

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Science Applications
    • Electrical and Electronic Engineering

    Fingerprint Dive into the research topics of 'Planning footsteps in obstacle cluttered environments'. Together they form a unique fingerprint.

    Cite this