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We present a sampling-based kinodynamic planning framework for a bipedalrobot in complex environments. Unlike other footstep planner which typicallyplan footstep locations and the biped dynamics in separate steps, we handleboth simultaneously. Three advantages of this approach are (1) the ability todifferentiate alternate routes while selecting footstep locations based on thetemporal duration of the route as determined by the Linear Inverted PendulumModel dynamics, (2) the ability to perform collision checking through time sothat collisions with moving obstacles are prevented without avoiding theirentire trajectory, and (3) the ability to specify a minimum forward velocityfor the biped. To generate a dynamically consistent description of the walkingbehavior, we exploit the Phase Space Planner. To plan a collision free routetoward the goal, we adapt planning strategies from non-holonomic wheeled robotsto gather a sequence of inputs for the PSP. This allows us to efficientlyapproximate dynamic and kinematic constraints on bipedal motion, to apply asampling based planning algorithms, and to use the Dubin's path as the steeringmethod to connect two points in the configuration space. The results of thealgorithm are sent to a Whole Body Controller to generate full body dynamicwalking behavior.

Fast Kinodynamic Bipedal Locomotion Planning with Moving Obstacles