Footstep Planning Among Obstacles for Biped Robots.ppt

Footstep Planning Among Obstacles for Biped Robots James Kuffner et al. presented by Jinsung Kwon Objective Planning safe navigation strategies for biped robots moving in obstacle-cluttered environments. Biped Navigation ModelAssumptions The environment floor is flat Obstacles are not moving and their positions and heights are known Footstep positions and motions are pre-computed Only the floor surface is allowed for foot placement Biped Navigation ModelStatically-stable Footstep Biped Navigation ModelStatically-stable Footstep Select placements along the edge of the reachable region at different relative foot angles Select a few interior placements to move in tight areas A few backward foot placements ? 15 placements for each foot Biped Navigation ModelFootstep Transition Trajectory Set of statically-stable motion trajectories for transitioning between footsteps are pre-calculated. 15x14 = 210 trajectories needed for each foot? Biped Navigation ModelFootstep Transition Trajectory Statically-stable intermediate postures, Qright and Qleft, are introduced to reduce the number of transition trajectories. ? 15 for each foot Footstep Planning AlgorithmDynamic Programming Forward dynamic programming Greedy heuristic search instead of exhaustive search Priority queue of Search nodes (footprint placement + heuristic cost) Footstep Planning AlgorithmDynamic Programming Footstep Planning AlgorithmCost Heuristic Function D(NQ) = depth of NQ in the tree ρ(NQ) = penalty to orientation change or backward step Х(NQ) = min steps to traverse the straight- line distance to the center of the goal region w = weighting values ? The heuristics favors straight path with less steps to the goal. Footstep Planning AlgorithmObstacle Collision-checking Two-level collision checking 1. 2D polygon-polygon intersection test Outline of obstacle projection ?? Outline of footstep 2. 3D polyhedral minimum distance Check for footstep and