Path planning for movements of an autonomous, bipedal robot in the human environment

摘要

One current research topic in the field of service robots is dedicated to the search for advantageous locomotions. Thereby the bipedal walking is examined. This paper presents two approaches for path planning. On the one hand these are an analytical approach for the bipedal, dynamically stable walking on a plane surface, and on the other hand an optimization mechanism for path planning for climbing stairs.