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Provedor de dados:  InTech
País:  N/A
Título:  A Human-Like Approach to Footstep Planning
Autores:  Yasar Ayaz
Khalid Munawar
Mohammad Bilal Malik
Atsushi Konno
Masaru Uchiyama
Data:  2007-06-01
Ano:  2007
Palavras-chave:  Humanoid Robots
Human-like Machines
Resumo:  Our algorithm successfully demonstrates a novel global reactive footstep planning strategy with a human-like approach. Incremental graph expansion from simpler to more complex paths ensures formation of a simpler and more useful graph as compared to that formed by approaches such as the visibility graph. The trajectory generated is more energy-efficient since the robot does not have to lift its foot to a high location in every step as in case of game theory based approaches. The algorithm is considerably fast and reduces computational complexity by minimizing the number of alternate steps considered after planning each step. However, basing the cost of each step on energy or time optimisation criteria instead of just the complexity level of the stepping motion can further improve the performance of the algorithm. Possibilities for future work include implementation on real humanoid robot and incorporation of measures for dealing with dynamic obstacles in the environment. In addition, identification of alternate paths by considering postural changes also seems interesting e.g. constraints on many obstacles of type-3 can be reduced to those for type-2 if the robot only lifts up its arms.
Tipo:  15
Idioma:  Inglês
Identificador:  http://www.intechopen.com/articles/show/title/a_human-like_approach_to_footstep_planning
Editor:  INTECH Open Access Publisher
Relação:  ISBN:978-3-902613-07-3
Fonte:  http://www.intechopen.com/download/pdf/pdfs_id/173
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