Global step planning of dynamic biped locomotion considering obstacles

This paper concerns on footstep planning of a biped robot in an environment having some obstacles. Biped robot has an advantage to work in human surroundings. This is accomplished by its capability to walk over the obstacles. Though its foot placement should be discussed to step over obstacles, it is difficult because dynamic biped locomotion is a complex inter-action system between CoG trajectory and stepping point. This complex system is solved by the term control method applying LIPM. It is able to adjust the walking stride and speed independently with this method. The collision detection can be achieved easily through modeling the obstacles to an off-limits on the horizontal plane. A stamp area is set in order to avoid the extreme stride alteration. Through these methods, the robot can prepare for the obstacle beforehand and select a series of footsteps that provides stable locomotion. A simulation result is shown to approve the validity of the proposed methods.