Proceedings of the Korean Institute of Intelligent Systems Conference (한국지능시스템학회:학술대회논문집)
- 2007.04a
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- Pages.7-10
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- 2007
Fuzzy Footstep Planning for Humanoid Robots Using Locomotion Primitives
보행 프리미티브 기반 휴머노이드 로봇의 퍼지 보행 계획
- Published : 2007.04.20
Abstract
This paper presents a fuzzy footstep planner for humanoid robots in complex environments. First, we define locomotion primitives for humanoid robots. A global planner finds a global path from a navigation map that is generated based on a combination of 2.5 dimensional maps of the 3D workspace. A local planner searches for an optimal sequence of locomotion primitives along the global path by using fuzzy footstep planning. We verify our approach on a virtual humanoid robot in a simulated environment. Simulation results show a reduction in planning time and the feasibility of the proposed method.