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Humanoid navigation with dynamic footstep plans

Johannes Garimort, Armin Hornung, Maren Bennewitz
2011 2011 IEEE International Conference on Robotics and Automation  
In experiments in simulation and with a real Nao humanoid, we demonstrate the effectiveness of the footstep plans computed and revised by our method.  ...  In this paper, we present an approach to optimal footstep planning for humanoid robots.  ...  In this work, we presented our approach to dynamic footstep planning for humanoid navigation, building upon the incremental heuristic search of D* Lite.  ... 
doi:10.1109/icra.2011.5979656 dblp:conf/icra/GarimortHB11 fatcat:jbroqwvwyvb4hgj6mkdagbtmm4

Motion Planning for Humanoid Robots [chapter]

James Kuffner, Koichi Nishiwaki, Satoshi Kagami, Masayuki Inaba, Hirochika Inoue
2005 Springer Tracts in Advanced Robotics  
This paper gives an overview of some of our recent efforts to develop motion planning methods for humanoid robots for application tasks involving navigation, object grasping and manipulation, footstep  ...  placement, and dynamically-stable full-body motions.  ...  Biped Navigation Model: The biped model comes with a pre-determined set of feasible footstep locations for each foot.  ... 
doi:10.1007/11008941_39 fatcat:v47kxl4tlzhtflv4zfxda2tpt4

Online motion planning for HOAP-2 humanoid robot navigation

Mohammed Elmogy, Christopher Habel, Jianwei Zhang
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper, we present a time-efficient motion planning system for a Fujitsu HOAP-2 humanoid robot.  ...  The A* search algorithm is then implemented to find smooth and low-cost footstep placements of the humanoid robot within the resulting configuration space.  ...  The resulting grid of cells will be supplied to the footstep planner with the path graph to search for the best footstep placements of the humanoid robot.  ... 
doi:10.1109/iros.2009.5354572 dblp:conf/iros/ElmogyHZ09 fatcat:xybprrp66nd7liir4xepvcc6ee

Evolutionary optimized footstep planning for humanoid robot

Young-Dae Hong, Ye-Hoon Kim, Jong-Hwan Kim
2009 2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation - (CIRA)  
Secondly, the step length modification method which makes the humanoid robot step over low obstacles with minimum step length is proposed.  ...  The univector fields are optimized by evolutionary algorithm (EA) considering objectives in navigation of humanoid robot for efficient navigation.  ...  In particular, footstep planning is one of key research issues in navigation.  ... 
doi:10.1109/cira.2009.5423197 dblp:conf/cira/HongKK09 fatcat:5vyiuhvqfveshcpjcdt3ovw5gi

Hierarchical RRT for humanoid robot footstep planning with multiple constraints in complex environments

Hong Liu, Qing Sun, Tianwei Zhang
2012 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Aiming at dealing with these problems in one frame, a novel approach based on hierarchical RRT is used to plan the footstep for humanoid robots.  ...  However it may be difficult to apply the ordinary motion planning methods such as Rapidly-exploring Random Trees (RRT) to humanoid robots directly.  ...  The rapidly-exploring random tree (RRT) is first applied to humanoid footstep planning in [22] .  ... 
doi:10.1109/iros.2012.6385836 dblp:conf/iros/LiuSZ12 fatcat:tonhxeezarc4fojz7lgzjgu5i4

Footstep Planning Based on Univector Field Method for Humanoid Robot [chapter]

Youngdae Hong, Jong-Hwan Kim
2009 Lecture Notes in Computer Science  
This paper proposes a footstep planning algorithm based on univector field method optimized by evolutionary programming for humanoid robot to arrive at a target point in a dynamic environment.  ...  The univector field method is employed to determine the moving direction of the humanoid robot at every footstep.  ...  In addition, it is easy to plan a path in a dynamic environment with moving obstacles. Thus, this method of path planning is adopted and extended for a humanoid robot.  ... 
doi:10.1007/978-3-642-03983-6_17 fatcat:22bopaoocnatvos7f7vck5hufq

Real-time Footstep Planning and Following for Navigation of Humanoid Robots

Young-Dae Hong
2015 Journal of Electrical Engineering and Technology  
This paper proposes novel real-time footstep planning and following methods for the navigation of humanoid robots.  ...  Therefore, it enables a humanoid robot to follow the footstep command planned for each footstep. The effectiveness of the proposed method is verified through simulation and experiment.  ...  Introduction For navigation of humanoid robots in real human environments, footstep planning in such environment with obstacles is one of the most important issues in the field of humanoid robot research  ... 
doi:10.5370/jeet.2015.10.5.2142 fatcat:5gydh3j4lrhlbgv5iikeemwfpa

Adaptive level-of-detail planning for efficient humanoid navigation

Armin Hornung, Maren Bennewitz
2012 2012 IEEE International Conference on Robotics and Automation  
In this paper, we consider the problem of efficient path planning for humanoid robots by combining grid-based 2D planning with footstep planning.  ...  Experiments carried out in a simulated office environment and with a Nao humanoid show that (i) our approach significantly reduces the planning time compared to pure footstep planning and (ii) the resulting  ...  This method can be also applied to humanoid robot navigation with controllers to follow the collision-free 2D paths, e.g., by planning footsteps in a local area around the 2D path [1] , [2] , or by executing  ... 
doi:10.1109/icra.2012.6224898 dblp:conf/icra/HornungB12 fatcat:vinpiqxnqnguffrceyc4w2trnm

Autonomous Navigation of a Humanoid Robot Over Unknown Rough Terrain [chapter]

Koichi Nishiwaki, Joel Chestnutt, Satoshi Kagami
2016 Springer Tracts in Advanced Robotics  
This paper presents an integration of laser-based perception, footstep planning, and walking control of a humanoid robot for navigation on previously unknown rough terrain.  ...  Navigation system is implemented on the full-size humanoid HRP-2. Several experimental results on unknown rough terrain shows the performance of the proposed system.  ...  Conclusion An integration of online perception, footstep planning, and walking control of a humanoid robot for navigating on previously unknown rough terrains was presented.  ... 
doi:10.1007/978-3-319-29363-9_35 fatcat:3qgsiwygwvc4bhl2sgz6byfryu

Anytime search-based footstep planning with suboptimality bounds

Armin Hornung, Andrew Dornbush, Maxim Likhachev, Maren Bennewitz
2012 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)  
Efficient footstep planning for humanoid navigation through cluttered environments is still a challenging problem.  ...  This allows to obtain efficient paths with provable suboptimality within short planning times.  ...  With a localization system running to correct for motion drift, the planned paths can be directly used for humanoid navigation [2] .  ... 
doi:10.1109/humanoids.2012.6651592 dblp:conf/humanoids/HornungDLB12 fatcat:ocidvstrinhm3odsbazx2n4gga

The experimental humanoid robot H7: a research platform for autonomous behaviour

K. Nishiwaki, J. Kuffner, S. Kagami, M. Inaba, H. Inoue
2007 Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences  
We describe the overall design goals and methodology, along with a summary of its online walking capabilities, autonomous vision-based behaviours and automatic motion planning.  ...  This paper gives an overview of the humanoid robot 'H7', which was developed over several years as an experimental platform for walking, autonomous behaviour and human interaction research at the University  ...  Figure 11 . 11 (a) Humanoid navigating in a cluttered office. (b) Planned footstep locations (top view).  ... 
doi:10.1098/rsta.2006.1921 pmid:17148051 fatcat:pic63qcbfzae7nindetqjyrgca

Continuous humanoid locomotion over uneven terrain using stereo fusion

Maurice F. Fallon, Pat Marion, Robin Deits, Thomas Whelan, Matthew Antone, John McDonald, Russ Tedrake
2015 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)  
In this paper we present the perception and planning algorithms which have allowed a humanoid robot to use only passive stereo imagery (as opposed to actuating a laser range sensor) to safely plan footsteps  ...  A particular integration challenge was ensuring that these two computationally intensive systems operate with minimal latency (below 1 second) to allow re-planning while walking.  ...  The regions and navigation goal are passed to the footstep planner to compute a footstep plan to navigate towards the goal. The resulting footstep plan is immediately queued for execution.  ... 
doi:10.1109/humanoids.2015.7363465 dblp:conf/humanoids/FallonMDWAMT15 fatcat:raueigmwavhdjn3hqjwsalibti

Integrated perception, mapping, and footstep planning for humanoid navigation among 3D obstacles

Daniel Maier, Christian Lutz, Maren Bennewitz
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
As we demonstrate in experiments with a Nao humanoid, our system leads to robust navigation in cluttered environments and the robot is able to traverse highly challenging passages.  ...  In this paper, we present an integrated navigation system that allows humanoid robots to autonomously navigate in unknown, cluttered environments.  ...  [7] also investigated footstep planning and evolved it further to account for the 3D shape of the humanoid and the obstacles.  ... 
doi:10.1109/iros.2013.6696731 dblp:conf/iros/MaierLB13 fatcat:wqj7mgipm5h4lompibh5kxsgpq

Motion Planning for Humanoid Robots in Complex Environments Based on Stance Sequence and ZMP Reference

Hong Liu, Qing Sun
2012 Applied Mechanics and Materials  
As demonstrated in experiments on the humanoid robot HOAP-2, our method can successfully plan footstep trajectories as well as generate the stable and natural-looking gait in typical cluttered and discrete  ...  It is a great challenge to plan motion for humanoid robots in complex environments especially when the terrain is cluttered and discrete.  ...  There are some improvements based on this approach including the application in some dynamic environments [12] and navigation for legged robots [13] .  ... 
doi:10.4028/www.scientific.net/amm.197.415 fatcat:o3pzkov2xbfibh7gyzwk6x4gem

Multi-Focal Vision and Gaze Control Improve Navigation Performance

Kolja Kühnlenz, Martin Buss
2012 International Journal of Advanced Robotic Systems  
An implementation of the novel concept is done considering a humanoid robot navigation scenario where the robot is visually guided through a structured environment with several landmarks.  ...  Multi-focal vision systems comprise cameras with various fields of view and measurement accuracies.  ...  Scenario Definition: Humanoid Robot Navigation Considered is a typical locomotion task of a humanoid robot with the robot walking along a planned path.  ... 
doi:10.5772/50920 fatcat:ngjca334dnbizekofxjezuhmnm
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