Research on global path planning and navigation strategies for mobile robots has been well studied in the robotics literature. Since the problem can usually be modeled as searching for a collision-free path in a 2D workspace, very efficient and complete algorithms can be employed. However, enabling a humanoid robot to move autonomously in a real-life environment remains a challenging problem. Unlike traditional wheeled robots, legged robots such as humanoid robots have advanced abilities of stepping over an object or striding over a deep gap with versatile locomotions. In this thesis, we propose a motion planning system capable of generating both global and local motions for a humanoid robot in layered environment cluttered with obstacles and deep narrow gaps. The planner can generate a gross motion that takes multiple locomotions, humanoid’s geometric properties and striding ability into consideration. A gross motion plan that satisfies the constraints is generated and further realized by a local planner, which determines the most efficient footsteps and locomotion over uneven terrain. If the local planner fails, the failure is fed back to the global planner to consider other alternative paths. The experiments show that our system can efficiently generate humanoid motions to reach the goal in a real-life environment. The system can also apply to a real humanoid robot to provide a high-level control mechanism.
| Identifer | oai:union.ndltd.org:CHENGCHI/G0091753002 |
| Creators | 黃培智, Huang,Pei-Zhi |
| Publisher | 國立政治大學 |
| Source Sets | National Chengchi University Libraries |
| Language | 英文 |
| Detected Language | English |
| Type | text |
| Rights | Copyright © nccu library on behalf of the copyright holders |
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