A Global Step Planning Method for Biped Robot Considering Obstacles

Toshiaki Tsuji, Kouhei Ohnishi

研究成果: Article査読

2 被引用数 (Scopus)


This paper discusses about step planning of a biped robot in an environment with obstacles. Biped robot has a mechanical advantage to work in human surroundings. This is accomplished by its capability to select the discrete contact point with the ground. Though its foot placement should be discussed to step over obstacles, it is difficult because dynamic biped locomotion is a complex interaction system between upper body motion and stepping point. Applying the idea of virtual supporting point, this complex interaction is solved. The collision detection is easily achieved 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. Experimental results are shown to confirm the validity of the proposed methods.

ジャーナルieej transactions on industry applications
出版ステータスPublished - 2004 9月 1

ASJC Scopus subject areas

  • 産業および生産工学
  • 電子工学および電気工学


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