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Advances in Mechanical Engineering pp 1547–1554Cite as

Path Planning of a Humanoid Robot Using Rule-Based Technique

Part of the Lecture Notes in Mechanical Engineering book series (LNME)

Abstract

This paper describes the effective route organization of a humanoid robot in an unknown environment. Rule-based technique is examined for steering of the humanoid robot in chaotic environments. The prime objective of the humanoid is set as to reach the target without hitting the obstacles. Various rules are developed based on the direction of motion, the distance between the humanoid and target, the distance between the humanoid and obstacles, and the angle between the robot and adjacent obstacles. The rules considered are cultured to find out the target angle of the humanoid from its current location. The proposed methodology has been verified in simulation platform and validated against an experimental set-up with good agreement between the results obtained from both the environments.

Keywords

  • Humanoid robot NAO
  • Path planning
  • Rule-based technique
  • Simulation and experiment

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Author information

Authors and Affiliations

  1. Robotics Laboratory, Mechanical Engineering Department, National Institute of Technology, Rourkela, Rourkela, 769008, Odisha, India

    Manoj Kumar Muni, Priyadarshi Biplab Kumar, Dayal R. Parhi, Animesh Chhotray & Krishna Kant Pandey

  2. Department of Mechanical Engineering, National Institute of Technology, Arunachal Pradesh, Yupia, Papum Pare, 791112, Arunachal Pradesh, India

    Asita Kumar Rath

  3. Mechanical Engineering Department, National Institute of Technology, Meghalaya, Shillong, 793003, Meghalaya, India

    Harish Chandra Das

  4. Electrical and Electronics Engineering Department, SRM University, Kattankulathur, Chennai, 603203, Tamil Nadu, India

    Kitty Salony

Authors
  1. Manoj Kumar Muni
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  2. Priyadarshi Biplab Kumar
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  3. Dayal R. Parhi
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  4. Asita Kumar Rath
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  5. Harish Chandra Das
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  6. Animesh Chhotray
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  7. Krishna Kant Pandey
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  8. Kitty Salony
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Corresponding author

Correspondence to Manoj Kumar Muni .

Editor information

Editors and Affiliations

  1. National Institute of Technology Meghalaya, Shillong, Meghalaya, India

    Prof. B. B. Biswal

  2. National Institute of Technology Meghalaya, Shillong, Meghalaya, India

    Dr. Bikash Kumar Sarkar

  3. National Institute of Technology Arunachal Pradesh, Yupia, Arunachal Pradesh, India

    Prof. P. Mahanta

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Cite this paper

Muni, M.K. et al. (2020). Path Planning of a Humanoid Robot Using Rule-Based Technique. In: Biswal, B., Sarkar, B., Mahanta, P. (eds) Advances in Mechanical Engineering. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-15-0124-1_135

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  • DOI: https://doi.org/10.1007/978-981-15-0124-1_135

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-15-0123-4

  • Online ISBN: 978-981-15-0124-1

  • eBook Packages: EngineeringEngineering (R0)

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