Dependable Humanoid Navigation System Based on Bipedal Locomotion
- Dependable Humanoid Navigation System Based on Bipedal Locomotion
- 강연식; 김현수; 유수현; 도낙주; 오용환; 유범재
- Bipedal locomotion; humanoid navigation; localization; software architecture
- Issue Date
- IEEE transactions on industrial electronics
- VOL 59, NO 2, 1050-1060
- In this paper, a dependable humanoid navigation
system is proposed by considering many difficulties in humanoid
navigation based on bipedal locomotion in an uncertain environment.
In particular, we propose a layered architecture to resolve
complicated problems through a hierarchical manner. Within the
proposed software architecture, a walking path planner, a walking
footstep planner, and a walking pattern generator are integrated in
a hierarchy to create a reliablemotion that overcomes foot slippage
and localization sensor noise. Each layer is designed to overcome
difficulties originating from bipedal locomotion such as unstable
dynamics, inclusion of a sinusoidal noise component in the localization
sensor measurement, and disturbance regarding discrete
footstepping. The designed navigation system is implemented on
a human-sized experimental humanoid platform and is tested for
the evaluation of its reliability and robustness in various tasks.
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