Abstract
Aiming at the problem of humanoid robot stepping over irregular obstacles, a trajectory planning method which is based on improved NURBS to cross obstacles is put forward, and the optimal trajectory of the footsteps can be obtained through automatically changing the number of control points or location parameters with this method based on improved NURBS. As a result, it's better than the traditional research results in the track length and trajectory smooth performance parameters, providing a stable and efficient trajectory path of optimal for the robot.
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