Realization and trajectory planning for obstacle stepping over by humanoid robot BHR-2

Ali Raza Jarfi; Qiang Huang; Lige Zhang; Jie Yang; Zhijie Wang; Shusheng Lv

doi:10.1109/ROBIO.2006.340131

Realization and trajectory planning for obstacle stepping over by humanoid robot BHR-2

Ali Raza Jarfi, Qiang Huang, Lige Zhang, Jie Yang, Zhijie Wang, Shusheng Lv

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

9 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
Pages	1384-1389
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2006.340131
Publication status	Published - 2006
Event	2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006 - Kunming, China Duration: 17 Dec 2006 → 20 Dec 2006

Publication series

Name	2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006

Conference

Conference	2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
Country/Territory	China
City	Kunming
Period	17/12/06 → 20/12/06

Keywords

Constrained cubic spline interpolation
Humanoid robot
Obstacle stepping over
Trajectory planning

Access to Document

10.1109/ROBIO.2006.340131

Cite this

Jarfi, A. R., Huang, Q., Zhang, L., Yang, J., Wang, Z., & Lv, S. (2006). Realization and trajectory planning for obstacle stepping over by humanoid robot BHR-2. In 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006 (pp. 1384-1389). Article 4142068 (2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006). https://doi.org/10.1109/ROBIO.2006.340131

@inproceedings{f25ff966bbce4832821ac075818c5956,

title = "Realization and trajectory planning for obstacle stepping over by humanoid robot BHR-2",

abstract = "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.",

keywords = "Constrained cubic spline interpolation, Humanoid robot, Obstacle stepping over, Trajectory planning",

author = "Jarfi, {Ali Raza} and Qiang Huang and Lige Zhang and Jie Yang and Zhijie Wang and Shusheng Lv",

year = "2006",

doi = "10.1109/ROBIO.2006.340131",

language = "English",

isbn = "1424405718",

series = "2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006",

pages = "1384--1389",

booktitle = "2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006",

note = "2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006 ; Conference date: 17-12-2006 Through 20-12-2006",

}

Jarfi, AR, Huang, Q, Zhang, L, Yang, J, Wang, Z & Lv, S 2006, Realization and trajectory planning for obstacle stepping over by humanoid robot BHR-2. in 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006., 4142068, 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, pp. 1384-1389, 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, Kunming, China, 17/12/06. https://doi.org/10.1109/ROBIO.2006.340131

Realization and trajectory planning for obstacle stepping over by humanoid robot BHR-2. / Jarfi, Ali Raza; Huang, Qiang; Zhang, Lige et al.
2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006. 2006. p. 1384-1389 4142068 (2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

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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

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Realization and trajectory planning for obstacle stepping over by humanoid robot BHR-2

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