Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Design of Path Planning Algorithm for Biped Walking Robot in 3-D Obstacle Environment

3차원 장애물에서의 이족보행로봇을 위한 이동경로계획 알고리즘의 설계

  • Min, Seung-Ki (Dept. of Control and Instrumentation Eno., MyonoJi University) ;
  • Kim, Dae-Won (Dept. of Control and Instrumentation Eno., MyonoJi University)
  • 민승기 (명지대학교 제어계측공학과) ;
  • 김대원 (명지대학교 제어계측공학과)
  • Published : 1997.11.29
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Abstract

This paper presents a path planning algorithm for biped walking robot in 3-D workspace. Since the biped walking robot can generate path on some 3-D obstacles that cannot generate path in case of mobile robot, we have to make a new path planning algorithms. A 3-D-to-2-D mapping algorithm is proposed and two kinds of path planning algorithms are also proposed. They make it easier to generate an efficient path for biped walking robot under given environment. Some simulation results are shown to prove the effectiveness of proposed algorithms.

Keywords