Modeling and algorithm realization of footstep planning for humanoid robots

Jiqiren/Robot

Volumn 30, Issue 3, 2008, Pages 231-237

  Xia, Ze Yang ^a   Chen, Ken ^a  

^a TSINGHUA UNIVERSITY   (China)

Author keywords

Footstep planning; Footstep transition; Heuristic search; Humanoid robot; Motion planning

Indexed keywords

COST FUNCTIONS; ROBOTS;

FOOTSTEP PLANNING; FOOTSTEP TRANSITION; HEURISTIC SEARCH; MULTI OBSTACLE ENVIRONMENTS;

MOTION PLANNING;

EID: 45449110047     PISSN: 10020446     EISSN: None     Source Type: Journal    
DOI: None     Document Type: Article

References (18)

1. Kuffner J J, Nishiwaki K, Kagami S, et al. Motion planning for humanoid robots [J]. Springer Tracts in Advanced Robotics, 2005, 15: 365-374.
2. Nagasaka K, Inoue H, Inaba M. Dynamic walking pattern generation for a humanoid robot based on optimal gradient method [A]. Proceedings of the IEEE International Conference on Systems, Man and Cybernetics [C]. Piscataway, NJ, USA: IEEE, 1999. 908-913.
3. Lim M S, Oh S R, Son J, et al. Human-like real-time grasp synthesis method for humanoid robot hands [J]. Robotics and Autonomous Systems, 2000, 30 (3): 261-271.
4. Latombe J C. Robot Motion Planning [M]. Boston, USA: Kluwer Academic Publishers, 1991.
5. Yagi M, Lumelsky V. Biped robot locomotion in scenes with unknown obstacles [A]. Proceedings of the IEEE International Conference on Robotics and Automation [C]. Piscataway, NJ, USA: IEEE, 1999. 375-380.
6. Lorch O, Denk J, Seara J F, et al. ViGWaM-An emulation environment for a vision guided virtual walking machine [A]. Proceedings of the IEEE/RAS International Conference on Humanoid Robotics [C]. Piscataway, NJ, USA: IEEE, 2000.
7. Cupec R, Schmidt G, Lorch O. Experiments in vision-guided robot walking in a structured scenario [A]. Proceedings of the IEEE International Symposium on Industrial Electronics [C]. Piscataway, NJ, USA: IEEE, 2005. 1581-1586.
8. Goldberg K. Completeness in robot motion planning [A]. Proceedings of the Workshop on the Algorithmic Foundations of Robotics [C]. Massachusetts, MA, USA: A K Peters Ltd, 1995. 419-429.
9. Nishiwaki K, Sugihara T, Kagami S, et al. Online mixture and connection of basic motions for humanoid walking control by footprint specification [A]. Proceedings of the IEEE International Conference on Robotics and Automation [C]. Piscataway, NJ, USA: IEEE, 2001. 4110-4115.
10. Girard M. Interactive design of 3D computer-animated legged animal motion [J]. IEEE Computer Graphics and Applications, 1987, 7 (6): 39-51.
11. Van de Panne M. From footprints to animation [J]. Computer Graphics Forum, 1997, 16 (4): 211-223.
12. Chestnutt J, Lau M, Cheung G, et al. Footstep planning for the Honda ASIMO humanoid [A]. Proceedings of the IEEE International Conference on Robotics and Automation [C]. Piscataway, NJ, USA: IEEE, 2005. 629-634.
13. Mirtich B. V-Clip: Fast and robust polyhedral collision detection [J]. ACM Transactions on Graphics, 1998, 17 (3): 177-208.
14. Xia Z Y, Liu L, Xiong J, et al. Design aspects and development of humanoid robot THBIP-2 [J]. Robotica, 2008, 26 (1): 109-116.