A Human-Like Approach Towards Humanoid Robot Footstep Planning
نویسندگان
چکیده
منابع مشابه
A Human-Like Approach Towards Humanoid Robot Footstep Planning
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 this ability 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 computati...
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Terrains in our everyday environment such as homes and offices are custom-designed for biped walkers i.e., human beings. Evolution of humanoid robots was, thus, a natural development in the field of mobile robotics. However, giving legs to a robot instead of wheels gives it a lot more than just resemblance to a human being. Unlike ordinary mobile robots, humanoids have the ability to cross obst...
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This paper proposes a footstep planning algorithm based on univector field method optimized by evolutionary programming for humanoid robot to arrive at a target point in a dynamic environment. The univector field method is employed to determine the moving direction of the humanoid robot at every footstep. Modifiable walking pattern generator, extending the conventional 3D-LIPM method by allowin...
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We present an online algorithm for planning sequences of footstep locations that encode goal-directed navigation strategies for humanoid robots. Planning footsteps is more general than most existing navigation methods designed for wheeled robots, since the options of stepping over or upon obstacles in a cluttered terrain are available. Given a discrete set of plausible footstep locations, a for...
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In recent years, humanoid soccer robots improved considerably. Elementary soccer skills, such as bipedal walking, visual perception, and collision avoidance have matured enough to provide for dynamic and exciting soccer games. While the elementary skills still remain hot research topics, it is time to move forward and address higher level skills, such as motion planning and team play. In this w...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2011
ISSN: 1729-8814,1729-8814
DOI: 10.5772/10671