A Global Step Planning Method for Biped Robot Considering Obstacles

Toshiaki Tsuji, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


This paper discusses about step planning of a biped robot in an environment with obstacles. Biped robot has a mechanical advantage to work in human surroundings. This is accomplished by its capability to select the discrete contact point with the ground. Though its foot placement should be discussed to step over obstacles, it is difficult because dynamic biped locomotion is a complex interaction system between upper body motion and stepping point. Applying the idea of virtual supporting point, this complex interaction is solved. The collision detection is easily achieved through modeling the obstacles to an off-limits on the horizontal plane. A stamp area is set in order to avoid the extreme stride alteration. Through these methods, the robot can prepare for the obstacle beforehand and select a series of footsteps that provides stable locomotion. Experimental results are shown to confirm the validity of the proposed methods.

Original languageEnglish
Pages (from-to)549-555
Number of pages7
Journalieej transactions on industry applications
Issue number6
Publication statusPublished - 2004 Sept 1


  • biped robot
  • dynamic walking
  • inverted pendulum mode
  • step planning

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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