Step sequence planning for a biped robot by means of a cylindrical shape model and a high-resolution 2.5D map
A novel step sequence planning (SSP) method for biped-walking robots is presented. The method adopts a free space representation custom-designed for efficient biped robot motion planning. The method rests upon the approximation of the robot shape by a set of 3D cylindrical solids. This feature allows efficient determination of feasible paths in a 2.5D map, comprising stepping over obstacles and stair climbing. A SSP algorithm based on A? A ? -search is proposed which uses the advantages of the aforementioned environment representation. The efficiency of the proposed approach is evaluated by a series of simulations performed for eight walking scenarios.
step sequence planning 2.5d map evaluation simulation biped walking robot robot shape model a? a ? -search a? a ? a? a ? a ?