Step sequence planning for a biped robot by means of a cylindrical shape model and a high-resolution 2.5D map

Authors:
Robert Cupec;Ivan Aleksi;Günther Schmidt
Affiliations:
Faculty of Electrical Engineering, University of Osijek, Kneza Trpimira 2b, 31000 Osijek, Croatia;Faculty of Electrical Engineering, University of Osijek, Kneza Trpimira 2b, 31000 Osijek, Croatia;Institute of Automatic Control Engineering, Technische Universität München, 80290 Munich, Germany
Venue:
Robotics and Autonomous Systems
Year:
2011

Citing 1
Cited 1

Real-time path planning for humanoid robot navigation

IJCAI'05 Proceedings of the 19th international joint conference on Artificial intelligence

Holography map for home robot: an object-oriented approach

Intelligent Service Robotics

Quantified Score

Hi-index	0.00

Visualization

Abstract

A novel step sequence planning (SSP) method for biped-walking robots is presented. The method adopts a free space representation custom-designed for efficient biped robot motion planning. The method rests upon the approximation of the robot shape by a set of 3D cylindrical solids. This feature allows efficient determination of feasible paths in a 2.5D map, comprising stepping over obstacles and stair climbing. A SSP algorithm based on A^*-search is proposed which uses the advantages of the aforementioned environment representation. The efficiency of the proposed approach is evaluated by a series of simulations performed for eight walking scenarios.