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	Deterministic-based Walking Planning for Biped Humanoid Robots
	Hao Deng; Huang Li; Jing Xiong; Zeyang Xia
	2017
会议日期	2017
会议地点	Hawaii, USA
英文摘要	The ability of biped walking in complex and uncertain human-living environments is preliminary for humanoid robots to execute service commissions. In this paper, we developed a sampling-based approach to biped walking in human-living environment. A deterministic sampling-based footstep planner was designed for footstep placement sequence planning. The key module of the footstep planner is a footstep transition model which considers kinodynamic constraints and the stability constraints of the robot. A gesture transition trajectory planner is then used to generate the motions for the robot to walk along the footstep placement sequences. For each planning interval, an efficient and accurate method to generate three-dimensional digital environmental map was used. Simulations in four types of dynamic environments have been conducted. Physical prototype experiments were implemented as well. The results validated the feasibility of the proposed methods.
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/12162]
专题	深圳先进技术研究院_医工所
作者单位	2017
推荐引用方式 GB/T 7714	Hao Deng,Huang Li,Jing Xiong,et al. Deterministic-based Walking Planning for Biped Humanoid Robots[C]. 见:. Hawaii, USA. 2017.

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