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Vision-guided humanoid footstep planning for dynamic environments

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4 Author(s)
Michel, P. ; The Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA ; Chestnutt, J. ; Kuffner, J. ; Kanade, T.

Despite the stable walking capabilities of modern biped humanoid robots, their ability to autonomously and safely navigate obstacle-filled, unpredictable environments has so far been limited. We present an approach to autonomous humanoid walking that combines vision-based sensing with a footstep planner, allowing the robot to navigate toward a desired goal position while avoiding obstacles. An environment map including the robot, goal, and obstacle locations is built in real-time from vision. The footstep planner then computes an optimal sequence of footstep locations within a time-limited planning horizon. Footstep plans are reused and only partially recomputed as the environment changes during the walking sequence. In our experiments, combining real-time vision with plan reuse has allowed a Honda ASIMO humanoid robot to autonomously traverse dynamic environments containing unpredictably moving obstacles

Published in:

Humanoid Robots, 2005 5th IEEE-RAS International Conference on

Date of Conference:

5-5 Dec. 2005