A Human-Like Approach Towards Humanoid Robot Footstep Planning

A Human-Like Approach Towards Humanoid Robot Footstep Planning

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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...

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Main Authors: Yasar Ayaz, Atsushi Konno, Khalid Munawar, Teppei Tsujita, Shunsuke Komizunai, Masaru Uchiyama
Format: Article
Language:English
Published: SAGE Publishing 2011-09-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/10671
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spelling doaj-fd173b893ca64c63a0cc6d23d35bdf772020-11-25T03:28:47ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142011-09-01810.5772/1067110.5772_10671A Human-Like Approach Towards Humanoid Robot Footstep PlanningYasar Ayaz0Atsushi Konno1Khalid Munawar2Teppei Tsujita3Shunsuke Komizunai4Masaru Uchiyama5 Department of Robotics and Artificial Intelligence, School of Mechanical and Manufacturing Engineering (SMME), National University of Sciences and Technology (NUST), Pakistan Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, Japan Department of Electrical Engineering, College of Electrical & Mechanical Engineering, National University of Sciences and Technology (NUST), Pakistan Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, Japan Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, Japan Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, JapanHumanoid 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 computational complexity, most of them are very time consuming. In this paper, we present a novel approach to footstep planning in obstacle cluttered environments that employs a human-like strategy to terrain traversal. Design methodology for obstacle stepping over motion designed for use with this algorithm is also presented. The paper puts forth simulation results of footstep planning as well as experimental results for the stepping over trajectory designed for use with hardware execution of the footstep plan.https://doi.org/10.5772/10671
collection DOAJ
language English
format Article
sources DOAJ
author Yasar Ayaz
Atsushi Konno
Khalid Munawar
Teppei Tsujita
Shunsuke Komizunai
Masaru Uchiyama
spellingShingle Yasar Ayaz
Atsushi Konno
Khalid Munawar
Teppei Tsujita
Shunsuke Komizunai
Masaru Uchiyama
A Human-Like Approach Towards Humanoid Robot Footstep Planning
International Journal of Advanced Robotic Systems
author_facet Yasar Ayaz
Atsushi Konno
Khalid Munawar
Teppei Tsujita
Shunsuke Komizunai
Masaru Uchiyama
author_sort Yasar Ayaz
title A Human-Like Approach Towards Humanoid Robot Footstep Planning
title_short A Human-Like Approach Towards Humanoid Robot Footstep Planning
title_full A Human-Like Approach Towards Humanoid Robot Footstep Planning
title_fullStr A Human-Like Approach Towards Humanoid Robot Footstep Planning
title_full_unstemmed A Human-Like Approach Towards Humanoid Robot Footstep Planning
title_sort human-like approach towards humanoid robot footstep planning
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2011-09-01
description 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 computational complexity, most of them are very time consuming. In this paper, we present a novel approach to footstep planning in obstacle cluttered environments that employs a human-like strategy to terrain traversal. Design methodology for obstacle stepping over motion designed for use with this algorithm is also presented. The paper puts forth simulation results of footstep planning as well as experimental results for the stepping over trajectory designed for use with hardware execution of the footstep plan.
url https://doi.org/10.5772/10671
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