Modeling of a wheeled humanoid robot and hybrid algorithm-based path planning of wheel base for the dynamic obstacles avoidance

Abstract

Purpose

Most of the conventional humanoid modeling approaches are not successful in coupling different branches of the tree-type humanoid robot. In this paper, a tree-type upper body humanoid robot with mobile base is modeled. The main purpose of this work is to model a non holonomic mobile platform and to develop a hybrid algorithm for avoiding dynamic obstacles. Decoupled Natural Orthogonal Complement methodology effectively combines different branches of the humanoid body during dynamic analysis. Collision avoidance also plays an important role along with modeling methods for successful operation of the upper body wheeled humanoid robot during real-time operations. The majority of path planning algorithms is facing problems in avoiding dynamic obstacles during real-time operations. Hence, a multi-fusion approach using a hybrid algorithm for avoiding dynamic obstacles in real time is introduced.

Design/methodology/approach

The kinematic and dynamic modeling of a humanoid robot with mobile platform is done using screw theory approach and Newton–Euler formulations, respectively. Dynamic obstacle avoidance using a novel hybrid algorithm is carried out and implemented in real time. D star lite and a geometric-based hybrid algorithms are combined to generate the optimized path for avoiding the dynamic obstacles. A weighting factor is added to the D star lite variant to optimize the basic version of D star lite algorithm. Lazy probabilistic road map (PRM) technique is used for creating nodes in configuration space. The dynamic obstacle avoidance is experimentally validated to achieve the optimum path.

Findings

The path obtained using the hybrid algorithm for avoiding dynamic obstacles is optimum. Path length, computational time, number of expanded nodes are analysed for determining the optimality of the path. The weighting function introduced along with the D star lite algorithm decreases computational time by decreasing the number of expanding nodes during path generation. Lazy evaluation technique followed in Lazy PRM algorithm reduces computational time for generating nodes and local paths.

Originality/value

Modeling of a tree-type humanoid robot along with the mobile platform is combinedly developed for the determination of the kinematic and dynamic equations. This paper also aims to develop a novel hybrid algorithm for avoiding collision with dynamic obstacles with minimal computational effort in real-time operations.

Citation

Sulaiman, S. and Sudheer, A.P. (2022), "Modeling of a wheeled humanoid robot and hybrid algorithm-based path planning of wheel base for the dynamic obstacles avoidance", Industrial Robot, Vol. 49 No. 6, pp. 1058-1076. https://doi.org/10.1108/IR-12-2021-0298