Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
413266 | Robotics and Autonomous Systems | 2011 | 17 Pages |
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∗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.
Research highlights► Efficient evaluation of step feasibility is achieved by a cylindrical robot model. ► Fast step sequence planning using high-resolution 2.5D occupancy grids is achieved. ► The applied numerical navigation function supports stepping over obstacles. ► Navigation function allows local planning without getting stuck in local minima. ► Stepping over obstacles and stair climbing are treated in a unified manner.