By Topic

Motion Planning for Stepping On/Off Obstacles by Humanoid Robot

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Ali Raza Jafri ; School of Mechatronics Engineering, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, Beijing, China, 100081. jafri72@yahoo.com, mmysheep@sina.com ; Qiang Huang ; Jie Yang ; Zhijie Wang
more authors

This paper presents a humanoid robot BHR-2 capable of performing stepping on and off a flat obstacle of known dimension. The trajectory comprises of two phases for the task completion. The first phase starts with the left foot raised from the ground and reaching the obstacle base tracking the trajectory points generated by spline interpolation. The end of the first phase is the state when both feet are on the obstacle. The second phase starts with the final point of the first phase. First, the left foot is raised slightly above the obstacle and then step forward to descend to the ground followed by right foot accordingly. The dynamic stability during the execution of stepping on/off is ensured by incorporating the ZMP criterion. The motion planning for stepping on/off is simulated accurately and is also verified through experimentation.

Published in:

2007 International Conference on Mechatronics and Automation

Date of Conference:

5-8 Aug. 2007