Analysis of Hybrid Technique for Motion Planning of Humanoid NAO

(1) * Abhishek Kumar Kashyap Mail (Robotics Laboratory, Mechanical Engineering Department, National Institute of Technology, Rourkela, India)
(2) Dayal R. Parhi Mail (Robotics Laboratory, Mechanical Engineering Department, National Institute of Technology, Rourkela, India)
(3) Anish Pandey Mail (School of Mechanical Engineering, Kalinga Institute of Industrial Technology, India)
*corresponding author


The navigation of a humanoid robot is essential because it is the basic requirement of any assigned task. Singly used motion planning techniques may take a long path to reach the target and increase the computational cost. Therefore, in this article, a hybrid controller is employed in the humanoid NAO for motion planning assignment. The Eagle strategy (ES) with Ant colony optimization (ACO) is introduced in this article for evaluating precise steering angles for humanoid robots as they traverse a route from a reference point to a target point. This enables the robot to achieve its specific target more quickly by avoiding barriers and obtaining the minimal global direction. The hybridized ES-ACO approach is critical in determining precise steering angles to escape obstacles.  The details of terrain are obtained using vision and ultrasonic sensors, which also include the barriers ranges to the ES as an input variable. The ES's input parameters are the barrier ranges from the NAO in front, left, and right directions, and the technique's output variable is the precise steering angle. The designed controller is tested in both a simulation and an experimental setting with a variety of obstacles. The outcomes of both simulation and experimental conditions are compared, and a strong correlation is identified in those with the fewest deviations.


Humanoid NAO; Webots; Eagle strategy; Ant colony optimization



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