Global Navigation for Humanoid Robots Using Sampling-Based Footstep Planners

The objective of humanoid navigation is to plan the global locomotion path for humanoid robots in complex global environments. It is different from wheeled mobile robot navigation because of the biped's unique abilities to step upon/over obstacles and the stability requirement is difficult. Sam...

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Bibliographic Details
Published inIEEE/ASME transactions on mechatronics Vol. 16; no. 4; pp. 716 - 723
Main Authors Xia, Zeyang, Xiong, Jing, Chen, Ken
Format Journal Article
LanguageEnglish
Published New York IEEE 01.08.2011
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Biomedical engineering
Biped navigation
deterministic sampling
Feasibility
footstep planner
Humanoid
Humanoid robots
Humans
Instruments
Legged locomotion
Locomotion
Mechatronics
Mobile robots
Navigation
Obstacles
randomized sampling
Robot sensing systems
Robots
sampling
Sampling methods
Stability
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Summary:The objective of humanoid navigation is to plan the global locomotion path for humanoid robots in complex global environments. It is different from wheeled mobile robot navigation because of the biped's unique abilities to step upon/over obstacles and the stability requirement is difficult. Sampling-based footstep planning that considers the aforementioned characteristics is a goal-directed navigation approach for humanoid robots. This paper will describe two footstep planning approaches, including our improvements on the previous deterministic sampling-based approach and the newly proposed randomized sampling-based approach. Numerical experiments are also given to verify the feasibility and planning performance of the two approaches.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
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ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2010.2051679