Footstep planning for humanoid robots among obstacles of various types
Footstep planning for humanoid robots among obstacles of various types
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DOI：
10.1109/ichr.2009.5379548
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发表时间：
2009-12
期刊：
影响因子：
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通讯作者：
Y. Ayaz;T. Owa;T. Tsujita;A. Konno;K. Munawar;M. Uchiyama
中科院分区：
文献类型：
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作者：
Y. Ayaz;T. Owa;T. Tsujita;A. Konno;K. Munawar;M. Uchiyama
如果将普通的移动机器人导航策略也用于类人机器人，那么类人机器人跨过或跨过障碍物的独特能力就没有得到开发。然而，最近提出的利用这种能力的路径规划策略由于计算复杂性很高而非常耗时。我们提出了一种新的方法来在障碍杂乱的环境中规划仿人机器人的足迹，该方法采用了一种类似人类的方法来遍历地形。本文主要对该算法进行了概念证明，并对其进行了改进。与以往的静态稳定仿真工作不同，本文提出了包含动态行走的足迹规划，并给出了HRP-2仿人机器人在具有不同障碍物特性的各种场景中导航的实际结果。这些还包括迎合身体摇摆动力学，以及计划和执行跨过遇到的障碍的角度，而不是垂直于机器人的运动线。
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.