Autonomous Locomotion of Humanoid Robots in Presence of Mobile and Immobile Obstacles

Abstract

The article is addressed to the control synthesis of an intelligent autonomous locomotion (artificial gait) of biped robots operating in unknown and unstructured dynamic environments, based on perception, spatial reasoning, and learning the skill of human locomotion. Focusing the research activities to the embodied cognition and computational intelligence, this paper contributes to the extension of the intelligent robot behavior through building advanced algorithms for dynamic environment understanding, simultaneous localization, trajectory prediction, path planning, obstacle avoidance, collision avoidance and scenario-driven behavior. The article includes some characteristic simulation results to demonstrate the efficiency of the developed control algorithms and verify the obtained results.KeywordsPath PlanningCollision AvoidanceObstacle AvoidanceHumanoid RobotBiped RobotThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.