Abstract
This paper discusses the footstep planning problem for bipedal robots and lower limb exoskeletons. Specifically, we consider the case when the robot needs to move through a door, too narrow to pass through without turning the robot body. The proposed approach is based on numerical optimization. The fact that the planner algorithm needs to take into account not only the linear displacements of the robot’s feet, but also their orientations, makes the problem more challenging, since the resulting optimization problem becomes non-convex. The paper gives a detailed description of the proposed algorithms and provides simulation results that show the validity of these methods.
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The reported study was funded by RFBR according to the research project № 18-38-00140\18.
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Savin, S., Yatsun, A., Loktionova, O. (2020). Footstep Planning for Bipedal Robots and Lower Limb Exoskeletons Moving Through Narrow Doors. In: Ronzhin, A., Shishlakov, V. (eds) Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin's Readings”. Smart Innovation, Systems and Technologies, vol 154. Springer, Singapore. https://doi.org/10.1007/978-981-13-9267-2_7
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DOI: https://doi.org/10.1007/978-981-13-9267-2_7
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