Since the biped robots are difficult to avoid obstacles in real time due to the balance constraints when the biped robots walk in actual environments,a path planning and obstacle avoidance method was proposed based on the rotating potential field.First,the idea of footprint planning was introduced into the local real-time path planning based on the potential field.Then,the local minima problem in the traditional potential field was solved by designing a new obstacle rotation potential field and the real-time obstacle avoidance was achieved using the mapping relationship.Finally,the effectiveness of the proposed method was confirmed by obstacle avoidance experiments on a small size biped robot in the environment with U-shaped obstacles
