A Novel Foot Placement Planning of Biped Robots Based on A* Algorithm and Kinematic Manipulability

Abstract

In motion planning of biped robots, the place where the swing foot lands on the ground is crucial. Stability, energy consumption, smoothness of movement as well as naturalness of motion can be depending on the selected foot placement. In this paper, a novel method based on the A* algorithm and kinematic manipulability for foot placement planning is presented. In this method, by calculating the magnitude and direction of the maximum manipulability for the candidate foot placements, one is selected that leads to the most dexterous and agile walking while maintaining stability. The advantage of this approach is avoiding singularities and being ready to create a higher potential for foot velocities. Therefore, the possibility of performing maneuvers to maintain walking stability would be enhanced. The mentioned algorithm has been successfully implemented on a simulated three-dimensional biped robot.