Dependable Humanoid Navigation System Based on Bipedal Locomotion
- Authors
- Kang, Yeonsik; Kim, Hyunsoo; Ryu, Soo-Hyun; Doh, Nakju Lett; Oh, YongHwan; You, Bum-jae
- Issue Date
- 2월-2012
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Keywords
- Bipedal locomotion; humanoid navigation; localization; software architecture
- Citation
- IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v.59, no.2, pp.1050 - 1060
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
- Volume
- 59
- Number
- 2
- Start Page
- 1050
- End Page
- 1060
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/106114
- DOI
- 10.1109/TIE.2011.2162709
- ISSN
- 0278-0046
- Abstract
- In this paper, a dependable humanoid navigation system is proposed by considering many difficulties in humanoid navigation based on bipedal locomotion in an uncertain environment. In particular, we propose a layered architecture 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 reliablemotion 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 footstepping. 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.
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Collections - Executive Vice President for Research > Institute of Convergence Science > 1. Journal Articles
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