For a humanoid robot, its non-linear constraints have to be considered for developing a navigation architecture including simultaneous localization and mapping (SLAM). In particular, its center-of-mass shows sinusoidal function-like sway motion during...
For a humanoid robot, its non-linear constraints have to be considered for developing a navigation architecture including simultaneous localization and mapping (SLAM). In particular, its center-of-mass shows sinusoidal function-like sway motion during walking. To cope with these complexity issues, unscented kalman-filter based SLAM has been employed and used as an important component for implementing gaze control-based navigation architecture for a humanoid robot. Especially, modifiable walking pattern generation (MWPG) algorithm is considered for composing motion and observation models for the SLAM
architecture. The proposed architecture is verified through simulations using a developed dynamic simulator
for a small-sized humanoid robot, HanSaRam(HSR)-VII.