| dc.contributor.author |
Rout, Bijay Kumar |
|
| dc.date.accessioned |
2023-09-04T10:13:06Z |
|
| dc.date.available |
2023-09-04T10:13:06Z |
|
| dc.date.issued |
2015 |
|
| dc.identifier.uri |
http://www.acyut.com/publications.html |
|
| dc.identifier.uri |
http://dspace.bits-pilani.ac.in:8080/xmlui/handle/123456789/11848 |
|
| dc.description.abstract |
Abstract—This paper presents a unique real time technique
for path generation in dynamic environment using simple
geometry, suitable for humanoid robots. We show that the
proposed algorithm reduces computation to find the optimal
collision free path by utilizing the geometrical shapes of the
obstacles to navigate from a known initial point to final point.
The trajectory is then translated to known parameters of
humanoid gait model thus effectively computing the footsteps
for the robot. This algorithm has been simulated, implemented
and tested on humanoid robot AcYut, developed at Centre for
Robotics and Intelligence Systems, BITS-Pilani. |
en_US |
| dc.language.iso |
en |
en_US |
| dc.publisher |
IEEE |
en_US |
| dc.subject |
Mechanical Engineering |
en_US |
| dc.subject |
Motion and Trajectory Generation |
en_US |
| dc.subject |
Humanoid Robots |
en_US |
| dc.subject |
Humanoid and Bipedal Locomotion |
en_US |
| dc.subject |
RoboCup |
en_US |
| dc.title |
Geometrical approach to On line Trajectory generation, Obstacle avoidance and Footstep planning for a Humanoid Robot |
en_US |
| dc.type |
Article |
en_US |