Footprint searching and trajectory design of a humanoid robot
Journal
2012 IEEE International Conference on Robotics and Biomimetics
Pages
259-264
Date Issued
2012
Author(s)
Abstract
This paper proposes a footstep-planning algorithm for humanoid robots in 3D environments by taking height, horizontal coordinates, and possible footsteps into account. The feasibility of locomotion with planning footsteps is further refined by adopting re-planning scheme on locomotion generator and the modification of momentum compensation for irregular footsteps or tuning motions. The performance of the proposed algorithm and modifications are verified through simulations. The simulation results are quite satisfactory and hence justify the proposed algorithm.
SDGs
Type
conference paper