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Navigation and Gait Planning

2010 
Humanoid robots are wonderfully complex machines, with the potential to travel through the same formidable terrains that humans can traverse, and to perform the same tasks that humans can perform. Unfortunately, that complexity and potential results in challenging control problems and computationally difficult planning issues. In this chapter, we look at gait planning and locomotion for navigating humanoid robots through complicated and rough terrain. Humanoid robots have the ability to step over or onto obstacles in their path, and to move in an omni-directional manner, allowing the potential for increased versatility and agility when compared with wheeled robots. In this chapter we discuss some of the differences that arise when planning for legs instead of wheels, and some of the reductions and approximations that can be used to simplify the planning problem. We discuss how a safe sequence of footsteps can be chosen in rough terrain, and present planners which can efficiently generate collision-free, stable motions through complicated environments for real humanoid robots.
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