Realization and Trajectory Planning for Obstacle Stepping Over by Humanoid Robot BHR-2

This paper presents the trajectory planning for stepping over obstacles of different sizes at known location by Humanoid Robot BHR-2. In the trajectory generation method, first we formulate the constraints of the foot motion parameters which include obstacle dimensions. By varying the values of the constraint parameters, we can produce different types of foot motion for stepping over different obstacles. In this method, first the foot trajectory is generated and then the waist trajectory is computed by using constrained cubic spline interpolation without first calculating the ZMP trajectory. The advantage of using constrained cubic spline interpolation is to minimize the overshoots at intermediate points, which results in a more stable and smooth trajectory. The effectiveness of the method is confirmed by simulations and experiments with our developed humanoid robot with 32 DOF.