Atlas humanoid robot (DRC version) walking across narrow terrain using autonomous planning. The robot senses the terrain with LIDAR and builds a map of planar regions.
source/image(PrtSc): DRCihmcRobotics
A path planning algorithm plans footsteps across the planar regions to a goal location, specified by an operator.
The robot is currently about 50% successful over this type of terrain. We plan to increase the rate of success by adding balance using angular momentum and by better considering joint ranges of motion.
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Narrow terrain is difficult due to the need to do some “cross-over” steps, which are tricky due to limited range of motion in the hip joint, and also due to having a small polygon of support when one foot is directly in front of the other. Control, Perception, and Planning algorithms by IHMC Robotics.
