TY - GEN
T1 - Realization and trajectory planning for obstacle stepping over by humanoid robot BHR-2
AU - Jarfi, Ali Raza
AU - Huang, Qiang
AU - Zhang, Lige
AU - Yang, Jie
AU - Wang, Zhijie
AU - Lv, Shusheng
PY - 2006
Y1 - 2006
N2 - This paper presents the trajectory planning for stepping over obstacles of different sizes at known location by Humanoid Robot BHR-2. In the trajectory generation method, first we formulate the constraints of the foot motion parameters which include obstacle dimensions. By varying the values of the constraint parameters, we can produce different types of foot motion for stepping over different obstacles. In this method, first the foot trajectory is generated and then the waist trajectory is computed by using constrained cubic spline interpolation without first calculating the ZMP trajectory. The advantage of using constrained cubic spline interpolation is to minimize the overshoots at intermediate points, which results in a more stable and smooth trajectory. The effectiveness of the method is confirmed by simulations and experiments with our developed humanoid robot with 32 DOF.
AB - This paper presents the trajectory planning for stepping over obstacles of different sizes at known location by Humanoid Robot BHR-2. In the trajectory generation method, first we formulate the constraints of the foot motion parameters which include obstacle dimensions. By varying the values of the constraint parameters, we can produce different types of foot motion for stepping over different obstacles. In this method, first the foot trajectory is generated and then the waist trajectory is computed by using constrained cubic spline interpolation without first calculating the ZMP trajectory. The advantage of using constrained cubic spline interpolation is to minimize the overshoots at intermediate points, which results in a more stable and smooth trajectory. The effectiveness of the method is confirmed by simulations and experiments with our developed humanoid robot with 32 DOF.
KW - Constrained cubic spline interpolation
KW - Humanoid robot
KW - Obstacle stepping over
KW - Trajectory planning
UR - http://www.scopus.com/inward/record.url?scp=46249090336&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2006.340131
DO - 10.1109/ROBIO.2006.340131
M3 - Conference contribution
AN - SCOPUS:46249090336
SN - 1424405718
SN - 9781424405718
T3 - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
SP - 1384
EP - 1389
BT - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
T2 - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
Y2 - 17 December 2006 through 20 December 2006
ER -