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

Yasar Ayaz, Khalid Munawar, M. Bilal Malik, Atsushi Konno, Masaru Uchiyama

    研究成果: Conference contribution

    19 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ホスト出版物のタイトル2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
    ページ5490-5495
    ページ数6
    DOI
    出版ステータスPublished - 2006 12 1
    イベント2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
    継続期間: 2006 10 92006 10 15

    出版物シリーズ

    名前IEEE International Conference on Intelligent Robots and Systems

    Other

    Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
    国/地域China
    CityBeijing
    Period06/10/906/10/15

    ASJC Scopus subject areas

    • 制御およびシステム工学
    • ソフトウェア
    • コンピュータ ビジョンおよびパターン認識
    • コンピュータ サイエンスの応用

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