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Bipedal Navigation Planning over Rough Terrain using Traversability Models
Conference proceeding

Bipedal Navigation Planning over Rough Terrain using Traversability Models

Stephen McCrory, Bhavyansh Mishra, Robert Griffin, Jerry Pratt and Hakki Erhan Sevil
SoutheastCon 2023, pp.89-95
SoutheastCon 2023 (Orlando, Florida, 04/01/2023–04/16/2023)
05/08/2023
DOI: https://doi.org/10.1109/SoutheastCon51012.2023.10115107
Web of Science ID: WOS:000996154700014

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2 Times Cited - Web of Science

Abstract

We present a planning framework designed for humanoid navigation over challenging terrain. This framework is designed to plan a traversable, smooth, and collision-free path using a 2.5D height map. The planner is comprised of two stages. The first stage consists of an A* planner which reasons about traversability using terrain features. A novel cost function is presented which encodes the bipedal gait directly into the graph structure, enabling natural paths that are robust to small gaps in traversability. The second stage is an optimization framework which smooths the path while further improving traversability. The planner is tested on a variety of terrains in simulation and is combined with a footstep planner and balance controller to create an integrated navigation framework, which is demonstrated on a DRC Boston Dynamics Atlas robot.

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