By Topic

Global Navigation for Humanoid Robots Using Sampling-Based Footstep Planners

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

3 Author(s)
Zeyang Xia ; Department of Precision Instruments and Mechanology, Tsinghua University, Beijing, China ; Jing Xiong ; Ken Chen

The objective of humanoid navigation is to plan the global locomotion path for humanoid robots in complex global environments. It is different from wheeled mobile robot navigation because of the biped's unique abilities to step upon/over obstacles and the stability requirement is difficult. Sampling-based footstep planning that considers the aforementioned characteristics is a goal-directed navigation approach for humanoid robots. This paper will describe two footstep planning approaches, including our improvements on the previous deterministic sampling-based approach and the newly proposed randomized sampling-based approach. Numerical experiments are also given to verify the feasibility and planning performance of the two approaches.

Published in:

IEEE/ASME Transactions on Mechatronics  (Volume:16 ,  Issue: 4 )