a Faculty of Electrical Engineering, University of Osijek, Kneza Trpimira 2b, 31000 Osijek, Croatia
b Institute of Automatic Control Engineering, Technische Universität München, 80290 Munich, Germany
Abstract:
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∗-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.