Dependable humanoid navigation system based on bipedal locomotion

Yeonsik Kang, Hyunsoo Kim, Soo Hyun Ryu, Nakju Lett Doh, Yonghwan Oh, Bum Jae You

Research output: Contribution to journalArticlepeer-review

17 Citations (Scopus)


In this paper, a dependable humanoid navigation system is proposed by considering many difficulties in humanoid navigation based on bipedal locomotion in an uncertain environment. In particular, we propose a layered architecture to resolve complicated problems through a hierarchical manner. Within the proposed software architecture, a walking path planner, a walking footstep planner, and a walking pattern generator are integrated in a hierarchy to create a reliable motion that overcomes foot slippage and localization sensor noise. Each layer is designed to overcome difficulties originating from bipedal locomotion such as unstable dynamics, inclusion of a sinusoidal noise component in the localization sensor measurement, and disturbance regarding discrete footstepping. The designed navigation system is implemented on a human-sized experimental humanoid platform and is tested for the evaluation of its reliability and robustness in various tasks.

Original languageEnglish
Article number5959973
Pages (from-to)1050-1060
Number of pages11
JournalIEEE Transactions on Industrial Electronics
Issue number2
Publication statusPublished - 2012 Feb

Bibliographical note

Copyright 2011 Elsevier B.V., All rights reserved.


  • Bipedal locomotion
  • humanoid navigation
  • localization
  • software architecture

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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