Path planning for biped robots based on environment stratification
基于环境分层方法的双足机器人路径规划研究

In order to achieve path planning among obstacles environment for biped robot, this paper proposed a method that divided the three-dimension environment into three parts: the obstacles layer above robot's height, the obstacles layer below robot's moving foot height, and the middle obstacles layer between the above two sections. First of all, make trajectory planning in the middle obstacles layer, and structure cost function based on the different transfer of losses due to the different gait, then placed the middle-tier planning trajectory on to the below layer for planning and modifying. Eventually, it got a series of continuous action of minimum cost for Biped Robots path planning. Computer simulation experiment shows that this method is effective.