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Focuses on sensor-based motion planning of a biped robot operating in an environment with obstacles. Using its sensors, the robot is able to obtain local information about its surroundings. A number of stable walking patterns are investigated. Depending on the shape and location of an obstacle on the robot's way, the decision making algorithm chooses the best relevant walking pattern; the robot then negotiates the obstacle and resumes stable motion. The proposed control strategy is based on the zero moment point. The stability of each walking pattern is ensured by adjusting the swing leg center of mass and hip position trajectories in a trial and error fashion, fast enough for real-time implementation. Simulation experiments demonstrate stability of motion when negotiating various obstacles.
Yagi et al. (Mon,) studied this question.