Geometrical approach to On line Trajectory generation, Obstacle avoidance and Footstep planning for a Humanoid Robot

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.