Planning Biped Navigation Strategies in Complex Environments

  title={Planning Biped Navigation Strategies in Complex Environments},
  author={Joel E. Chestnutt and James J. Kuffner and Koichi Nishiwaki and Satoshi Kagami},
We present an algorithm for planning goal-directed footstep navigation strategies for biped robots through obstacle-filled environments and uneven ground. Planning footsteps is more general than most existing navigation methods designed for wheeled robots, since the options of stepping over or upon obstacles are available. Given a height map of the terrain and a discrete set of possible footstep motions, the planner uses an A* search to generate a sequence of footstep locations to reach a given… CONTINUE READING

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