Strategies for Generating Footsteps of Biped Robots in Narrow Sight.

ABSTRACT: In this paper, we present a strategy for a legged robot to stably cross cinder blocks with a limited area acquired from a camera. First, we used the point cloud acquired from the camera to detect the planes and calculate their centroids and directions. This information was used to determine the position and direction of the foot to which the robot should go. Existing A*-based footstep planners require a global map to reach the goal from the start and do not generate a path if there is no solution to the goal due to completeness of A*. In addition, if the map is not updated while moving the path, it is vulnerable to changes in the object position. Our strategy calculates the footsteps that the robot can walk in a limited camera area without securing a global map. In addition, it updates the

SUBMITTER: Yoon SJ 

PROVIDER: S-EPMC9143256 | biostudies-literature | 2022 May

REPOSITORIES: biostudies-literature