Dependable Humanoid Navigation System Based on Bipedal Locomotion

Autor:	Yeonsik Kang, Hyun Soo Kim, Soo-Hyun Ryu, Yonghwan Oh, Nakju Lett Doh, Bum-Jae You
Rok vydání:	2012
Předmět:	Engineering business.industry Multitier architecture Navigation system Control and Systems Engineering Digital pattern generator Robustness (computer science) Motion planning Noise (video) Electrical and Electronic Engineering business Software architecture Humanoid robot Simulation
Zdroj:	IEEE Transactions on Industrial Electronics. 59:1050-1060
ISSN:	1557-9948 0278-0046
Popis:	In this paper, a dependable humanoid navigation system is proposed by considering many difficulties in humanoid navigation based on bipedal locomotion in an uncertain environment. In particular, we propose a layered architecture to resolve complicated problems through a hierarchical manner. Within the proposed software architecture, a walking path planner, a walking footstep planner, and a walking pattern generator are integrated in a hierarchy to create a reliable motion that overcomes foot slippage and localization sensor noise. Each layer is designed to overcome difficulties originating from bipedal locomotion such as unstable dynamics, inclusion of a sinusoidal noise component in the localization sensor measurement, and disturbance regarding discrete footstepping. The designed navigation system is implemented on a human-sized experimental humanoid platform and is tested for the evaluation of its reliability and robustness in various tasks.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::79a9bc854103e8ebb3b96d8f05b8faa3 https://doi.org/10.1109/tie.2011.2162709 Zobrazit plný text záznamu