Robust Walking System for Humanoids Using Online Recognition of Steppable Region

Abstract

In this study, we proposed a walking system for humanoids that considers environmental terrain and the robot balance. While walking, the robot modifies its landing position in real time according to the robot state. When walking on uneven terrain, the robot must consider the environment at the same time and land on an appropriate foothold. In the proposed system, the environmental point cloud is transformed online into a 2D polygon representing the steppable region. After that, the robot modifies the landing position considering the environmental terrain by geometric computation with high period using this polygon. Through experiments using an actual robot, we verified that the proposed system is effective for walking on uneven terrain.