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Footstep Planning Based on Univector Field Method for Humanoid Robot

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Advances in Robotics (FIRA 2009)

Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 5744))

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Abstract

This paper proposes a footstep planning algorithm based on univector field method optimized by evolutionary programming for humanoid robot to arrive at a target point in a dynamic environment. The univector field method is employed to determine the moving direction of the humanoid robot at every footstep. Modifiable walking pattern generator, extending the conventional 3D-LIPM method by allowing the ZMP variation while in single support phase, is utilized to generate every joint trajectory of a robot satisfying the planned footstep. The proposed algorithm enables the humanoid robot not only to avoid either static or moving obstacles but also step over static obstacles. The performance of the proposed algorithm is demonstrated by computer simulations using a modeled small-sized humanoid robot HanSaRam (HSR)-VIII.

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Author information

Authors and Affiliations

  1. Department of Electrical Engineering and Computer Science, KAIST, Daejeon, Korea

    Youngdae Hong & Jong-Hwan Kim

Authors
  1. Youngdae Hong
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  2. Jong-Hwan Kim
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Editor information

Editors and Affiliations

  1. Dept. of Electrical Engineering and Computer Science, Korea Advanced Institute of Science and Technology, South Korea

    Jong-Hwan Kim

  2. Social Robotics Lab, Interactive Digital Media Institute, and Edutainment Robotics Lab Department of Electrical and Computer Engineering, National University of Singapore, 117576, Singapore

    Shuzhi Sam Ge

  3. National University of Singapore, Singapore

    Prahlad Vadakkepat  & Abdullah Al Manum  & 

  4. Technische Universität Dortmund, Germany

    Norbert Jesse

  5. Department of Electrical and Computer Engineering, National University of Singapore, 4 Engineering Drive 3, P.O. Box, 117576, Singapore

    Sadasivan Puthusserypady K

  6. Institut für Informatik/I12, Technische Universität München, Boltzmannstr. 3,, D-85748, Garching b. München, Germany

    Ulrich Rückert

  7. School of Software Engineering and Data Communications, Queensland University of Technology, P.O. Box, Brisbane, Australia

    Joaquin Sitte

  8. Heinz Nixdorf Institute, University of Paderborn, P.O. Box, Paderborn, Germany

    Ulf Witkowski

  9. Interactive & Digital Media Institute, National University of Singapore, Blk E3A #02-04, 7 Engineering Drive 1, 117574, Singapore

    Ryohei Nakatsu

  10. University of Manitoba, R3T 2N2, Winnipeg, MB, Canada

    Jacky Baltes

  11. Autonomous Agents Laboratory, Department of Computer Science, University of Manitoba, P.O. Box, R3T 2N2, Winnipeg, Manitoba, Canada

    John Anderson

  12. Dept. of Education in Technology & Science, Technion - Israel Institute of Technology, 32000, Haifa, Israel

    Igor Verner

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© 2009 Springer-Verlag Berlin Heidelberg

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Hong, Y., Kim, JH. (2009). Footstep Planning Based on Univector Field Method for Humanoid Robot. In: Kim, JH., et al. Advances in Robotics. FIRA 2009. Lecture Notes in Computer Science, vol 5744. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-03983-6_17

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  • DOI: https://doi.org/10.1007/978-3-642-03983-6_17

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-03982-9

  • Online ISBN: 978-3-642-03983-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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