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• W2146138727 abstract "In this paper, a dependable humanoid navigation system is proposed by considering many difficulties in humanoid navigation based on bipedal locomotion in an uncertain environment. In particular, we propose a layered architecture to resolve complicated problems through a hierarchical manner. Within the proposed software architecture, a walking path planner, a walking footstep planner, and a walking pattern generator are integrated in a hierarchy to create a reliable motion that overcomes foot slippage and localization sensor noise. Each layer is designed to overcome difficulties originating from bipedal locomotion such as unstable dynamics, inclusion of a sinusoidal noise component in the localization sensor measurement, and disturbance regarding discrete footstepping. The designed navigation system is implemented on a human-sized experimental humanoid platform and is tested for the evaluation of its reliability and robustness in various tasks." @default.
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• W2146138727 date "2012-02-01" @default.
• W2146138727 modified "2023-09-30" @default.
• W2146138727 title "Dependable Humanoid Navigation System Based on Bipedal Locomotion" @default.
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• W2146138727 doi "https://doi.org/10.1109/tie.2011.2162709" @default.
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