1A1-B02 A Human-Like Approach Towards Humanoid Robot Footstep Planning

摘要

Superior navigational ability in everyday environments such as homes and offices is one of the primary incentives behind humanoid robotics research. Yet their ability to step over or upon obstacles remains unexploited if algorithms designed for wheeled robot navigation are also employed for humanoids. Recently, globalized strategies have been designed that do take into account this feature. Yet, due to high computational complexity, most of them remain highly time consumptive. A new approach is presented herewith that employs a human-like approach to terrain traversal. Results of its simulation on a model of our humanoid robot 'Saika-3' are also presented. The strategy is reactive, yet global and reduces computational complexity by limiting graph expansion to only useful paths.