Human-like approach to footstep planning among obstacles for humanoid robots

Yasar Ayaz, Khalid Munawar, Mohammad Bilal Malik, Atsushi Konno, Masaru Uchiyama

Research output: Contribution to journalArticlepeer-review

13 Citations (Scopus)


Unlike wheeled robots, humanoid robots are able to cross obstacles by stepping over or upon them. Conventional 2D methods for robot navigation fail to exploit this unique ability of humanoids and thus design trajectories only by circumventing obstacles. Recently, global algorithms have been presented that take into account this feature of humanoids. However, due to high computational complexity, most of them are very time consuming. In this paper, we present a new approach to footstep planning in obstacle cluttered environments that employs a human-like strategy to terrain traversal. Simulation results of its implementation on a model of the Saika-3 humanoid robot are also presented. The algorithm, being one of reactive nature, refutes previous claims that reactive algorithms fail to find successful paths in complex obstacle cluttered environments.

Original languageEnglish
Pages (from-to)125-149
Number of pages25
JournalInternational Journal of Humanoid Robotics
Issue number1
Publication statusPublished - 2007 Mar
Externally publishedYes


  • Footstep planning
  • Machine intelligence
  • Robot motion planning

ASJC Scopus subject areas

  • Mechanical Engineering
  • Artificial Intelligence


Dive into the research topics of 'Human-like approach to footstep planning among obstacles for humanoid robots'. Together they form a unique fingerprint.

Cite this