AN EVOLUTIONARY OPTIMIZED FOOTSTEP PLANNER FOR THE NAVIGATION OF HUMANOID ROBOTS

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In this paper, an evolutionary optimized footstep planner for the navigation of humanoid robots is proposed. A footstep planner based on a univector field navigation method is proposed to generate a command state (CS) as an input to a modifiable walking pattern generator (MWPG) at each footstep. The MWPG generates associated trajectories of every leg joint to follow the given CS. In order to satisfy various objectives in the navigation, the univector fields are optimized by evolutionary programming. The three objectives, shortest elapsed time to get to a destination, safety without obstacle collision, and less energy consumption, are considered with mechanical constraints of a real humanoid robot, that is, the maximum step length and allowable yawing range of the feet. The effectiveness of the proposed algorithm is demonstrated through both computer simulation and experiment for a small-sized humanoid robot, HanSaRam-IX.
Publisher
WORLD SCIENTIFIC PUBL CO PTE LTD
Issue Date
2012-03
Language
English
Article Type
Article
Keywords

FAST MOBILE ROBOTS; GENERATION; PATTERN; GAIT

Citation

INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, v.9, no.1

ISSN
0219-8436
DOI
10.1142/S0219843612500053
URI
http://hdl.handle.net/10203/103915
Appears in Collection
EE-Journal Papers(저널논문)
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