20-07-2012, 04:08 PM
humanoid navigation system
ABSTRACT
A dependable humanoid navigation system is proposed by considering many difficulties in humanoid navigation based on bipedal locomotion in an uncertain environment. In particular, a layered architecture is proposed 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 reliable motion 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 foot stepping.
Bipedal locomotion is one of the most distinctive features of the developed humanoid robot, which enables the robot to share the same workspace with humans without extra modification of the environment. In the future, home services such as house cleaning, garbage collection, meal preparation, and delivery are expected to be provided by the developed humanoid robot. 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.