Reactive humanoid walking algorithm for occluded terrain

Abstract

Humanoid robots are a good option for rescue missions in disaster scenarios when the safety of the rescue team can be compromised. Thus, allowing saving lives without the need of risking the safety of the rescue team. In this study we propose a reactive walking algorithm that provides statically stable locomotion when negotiating difficult terrains (combinations of inclined planes and flat ground) in the case that computer vision is not an option due to occluded terrains. Furthermore, we have tested the algorithm in simulation using the DRCSim software package obtaining good results.