Autonomous Navigation of Underactuated Bipedal Robots in Height-Constrained Environments

Understand

Navigating a large-scaled robot in unknown and cluttered height-constrained environments is challenging.

• Not only is a fast and reliable planning algorithm required to go around obstacles, the robot should also be able to change its intrinsic dimension by crouching in order to travel underneath height-constrained regions.
• There are few mobile robots that are capable of handling such a challenge, and bipedal robots provide a solution.
• However, as bipedal robots have nonlinear and hybrid dynamics, trajectory planning while ensuring dynamic feasibility and safety on these robots is challenging.