Footstep Planning for Autonomous Walking Over Rough Terrain
| Autor: | Sylvain Bertrand, Inho Lee, Stephen McCrory, Robert J. Griffin, Georg Wiedebach, Jerry Pratt |
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| Rok vydání: | 2019 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology Discretization Computer science business.industry 020207 software engineering Terrain 02 engineering and technology Planner Planning process Computer Science - Robotics 020901 industrial engineering & automation 0202 electrical engineering electronic engineering information engineering Computer vision Artificial intelligence business Robotics (cs.RO) computer Humanoid robot computer.programming_language |
| Zdroj: | Humanoids |
| Popis: | To increase the speed of operation and reduce operator burden, humanoid robots must be able to function autonomously, even in complex, cluttered environments. For this to be possible, they must be able to quickly and efficiently compute desired footsteps to reach a goal. In this work, we present a new A* footstep planner that utilizes a planar region representation of the environment enable footstep planning over rough terrain. To increase the number of available footholds, we present an approach to allow the use of partial footholds during the planning process. The footstep plan solutions are then post-processed to capture better solutions that lie between the lattice discretization of the footstep graph. We then demonstrate this planner over a variety of virtual and real world environments, including some that require partial footholds and rough terrain using the Atlas and Valkyrie humanoid robots. Submitted to IEEE Humanoids 2019 |
| Databáze: | OpenAIRE |
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