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A Human-Like Approach to Footstep Planning InTech
Yasar Ayaz; Khalid Munawar; Mohammad Bilal Malik; Atsushi Konno; Masaru Uchiyama.
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...
Tipo: 15 Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007 URL:
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