Motion Planning for Bipedal Walking
نویسندگان
چکیده
In this thesis I consider the problem of motion planning for walking, bipedal robots, including humanoid robots. While a number of problems complicate planning for robots with a large number of degrees of freedom that possess many dynamic constraints, such as a bipedal system, a simplified framework can be used to find an approximate solution to some planning problems even though, in general, the motion planning problem is intractable. I discuss the difficulties in the motion planning problem for walking robots and summarize previous research addressing the problem. I propose a hierarchical planning framework and outline and discuss two algorithms within that framework. I present results from implementations of these algorithms in simulation environments and discuss the future research required to use this work to create robust and viable motion planning software to deploy on mechanical robotic systems.
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