Motion Planning of Biped Robot Equipped with Stereo Camera Using Grid Map

@article{Yamashita2011MotionPO,
  title={Motion Planning of Biped Robot Equipped with Stereo Camera Using Grid Map},
  author={Atsushi Yamashita and Masaaki Kitaoka and Toru Kaneko},
  journal={IJAT},
  year={2011},
  volume={5},
  pages={639-647}
}
Recognizing its surroundings is important for biped robots seeking a destination. In this paper, we propose a motion planning method of a biped robot including path planning and obstacle avoidance. The robot obtains distance information on its surrounding environment from images captured by a stereo camera system, and generates a 3D map, then, builds a 2D grid map that locates flat floor regions, obstacle regions, bump regions, gate regions, and un-measured regions to decide its path by using… CONTINUE READING

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