Hostname: page-component-7c8c6479df-r7xzm Total loading time: 0 Render date: 2024-03-28T20:36:19.832Z Has data issue: false hasContentIssue false

Local on-line planning in biped robot locomotion amongst unknown obstacles

Published online by Cambridge University Press:  09 April 2001

M. Yagi
Affiliation:
University of Wisconsin-Madison, Dept. of Mechanical Engineering, Madison, Wisconsin 53706 (USA)yagi@cae.wise.edu
V. Lumelsky
Affiliation:
University of Wisconsin-Madison, Dept. of Mechanical Engineering, Madison, Wisconsin 53706 (USA)

Abstract

The focus of this work is on sensor-based motion planning for a biped robot operating in a scene with unknown obstacles. Using on-line sensor information about its surroundings, the robot negotiates obstacles on its way. Depending on the obstacle's shape, size, and location, the decision-making system chooses an appropriate walking pattern. The robot then negotiates the obstacle and resumes stable motion. The walking pattern is chosen from a small number of precomputed patterns that together cover a reasonably wide range of possible situations. The overall control strategy is based on the concept of Zero Moment Point. Each precomputed pattern guarantees dynamically stable motion; its stability is obtained by adjusting the swing leg center of mass and hip position trajectories. The approach is fast enough for real-time implementation. Simulation experiments demonstrate stability of motion when negotiating various obstacles.

Type
Research Article
Copyright
© 2000 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)