engleski

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

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.

step sequence planning; biped walking robot; robot shape model; 2.5D map; A*-search; aimulation; evaluation

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