自动化学报Issue(2)：189-201,13.DOI:10.16383/j.aas.2016.c150432
面向全方位双足步行跟随的路径规划
Omni-directional Bipedal Walking Path Planning
摘要
Abstract
Footstep planning for bipedal walking robot is difficult to fulfil the requirement of computational efficiency at high walking speed; it also suffers from the risk of falling over with stride variations. On the other hand, 2D grid-based planning strategy for point robots is unable to generate an efficient walking path for bipedal robots. A path planning approach for heterogeneous omnidirectional bipedal walking robot is proposed in this paper. State lattice graph is brought into the omnidirectional moving condition. Based on three assumptions and type classification, a systematic motion primitive enumerating and selecting method is given. The rapid path planning for humanoid robots in dynamic environment can be achieved by making use of the algorithm of anytime repairing incremental search AD*. The smooth and efficient path, generated by reasonable heuristics function and state transfer cost, provides the foundation for dynamics optimized footstep planning. Simulation has demonstrated the adaptability of the biped robot in various environments. The successful performance in obstacle avoidance challenge in Robocup proves the possibility of implementation on physical robots and the capacity for walking efficiency improvement.关键词
仿人机器人/路径规划/状态网格/动态规划/足迹规划Key words
Humanoid robot/path planning/state lattice/dynamic planning/footstep planning引用本文复制引用
张继文,刘莉,陈恳..面向全方位双足步行跟随的路径规划[J].自动化学报,2016,(2):189-201,13.基金项目
摩擦学国家重点实验室项目(SKLT09A03),国家自然科学基金项目(61403225,51175288)资助@@@@Supported by Project of State Key Laboratory of Tribology (SKLT09A03), National Natural Science Foundation of China (61403225,51175288) （SKLT09A03）
