RRT-based motion planner and balance controller for a biped robot

Mikołaj Wasielica; Dominik Belter

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Title

RRT-based motion planner and balance controller for a biped robot

Authors

Mikołaj Wasielica (WE) ^{[ 1 ][ D ]}
Dominik Belter (WE) ^{[ 1 ][ 2.2 ][ P ]}

^{[ 1 ]} Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | ^{[ D ]} phd student | ^{[ P ]} employee

Scientific discipline (Law 2.0)

[2.2] Automation, electronics and electrical engineering

Year of publication

2017

Chapter type

chapter in monograph / paper

Publication language

english

Keywords

EN

biped robot
motion planning
balance control

Abstract

EN The paper presents a new motion planning method for a biped robot. The method uses elevation map of the environment to plan the path of the feet and robot’s body on rough terrain. We show how to incorporate modules which determine footholds, posture of the robot and check if the planned path is secure into a single general framework based on the Rapidly-exploring Random Trees. We describe the controller which stabilizes the robot during execution of the planned path. In the paper the implementation of the method for the Atlas robot in Gazebo environment is presented.

Pages (from - to)

404 - 411

Book

Advances in Cooperative Robotics : proceedings of the 19th International conference on CLAWAR 2016

Presented on

19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2016), 12-14.09.2016, London, United Kingdom

Ministry points / chapter

20

Publication indexed in

WoS (15)

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