Kang, Yeonsik Kim, Hyunsoo Ryu, Soo-Hyun Doh, Nakju Lett Oh, YongHwan You, Bum-jae 2024-01-20T15:32:09Z 2024-01-20T15:32:09Z 2021-09-05 2012-02 0278-0046 https://pubs.kist.re.kr/handle/201004/129584 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. English IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC GENERATION Dependable Humanoid Navigation System Based on Bipedal Locomotion Article 10.1109/TIE.2011.2162709 1 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v.59, no.2, pp.1050 - 1060 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 59 2 1050 1060 scie scopus 000296014800040 2-s2.0-80054825925 Automation & Control Systems Engineering, Electrical & Electronic Instruments & Instrumentation Automation & Control Systems Engineering Instruments & Instrumentation Article GENERATION Bipedal locomotion humanoid navigation localization software architecture