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Humanoid navigation with dynamic footstep plans
2011
2011 IEEE International Conference on Robotics and Automation
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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]
2005
Springer Tracts in Advanced Robotics
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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
2009
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
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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
2009
2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation - (CIRA)
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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
2012
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
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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]
2009
Lecture Notes in Computer Science
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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
2015
Journal of Electrical Engineering and Technology
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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
2012
2012 IEEE International Conference on Robotics and Automation
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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]
2016
Springer Tracts in Advanced Robotics
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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
2012
2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)
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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
2007
Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences
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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
2015
2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)
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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
2013
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
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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
2012
Applied Mechanics and Materials
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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
2012
International Journal of Advanced Robotic Systems
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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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