Footstep Planning Method for Bipedal Robot

摘要

The invention of the bipedal robot to step planning methods According to the unit vector field navigation (univector field navigation method) based in the every step in every variable pace generator (modifiable walking pattern generator, MWPG) of the input (input) which, stride , determines a motion direction, CS (command state) that contains information about the pace of the biped walking robot, such as the step time, and may generate the trajectory of all foot joints of the biped walking robot in order to satisfy the determined CS. In addition, it is possible to optimize the shortest amount of time walking bipedal robot, stability without collision with an obstacle, an evolutionary algorithm unit vector fields for minimum energy consumption (evolutionary algorithm). In addition, according to the present invention using optimization techniques and evolutionary algorithms created by the trajectory of the plan may be the footsteps of bipedal robots in real time. ;