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Footstep Planning for Biped Robots
Head: James Kuffner
Contact: Joel Chestnutt (chestnutt@ri.cmu.edu)

Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Associated center: CFR
Associated lab/group: Planning and Autonomy Lab

For more information, see this project's homepage.

As humanoid robots continue to advance and gain new capabilities, software for high-level control and autonomous motion generation will be required. One important area of research involves the design of algorithms to compute robust navigation strategies for humanoids in complex human environments. For indoor environments, this includes dealing with furniture, walls, stairs, doors, and possible objects on the floor. For outdoor environments, this includes the ability to navigate on rough terrain and uneven surfaces. Because legged robots have the ability to step over and onto obstacles in their path, they are uniquely suited to overcoming these difficulties. Our goal is to develop strategies for safely and efficiently traversing these complex enviroments which utilize the full extent of legged robots' capabilities.

Name - Title <Email Address>
• Satoshi Kagami - Visiting Faculty
• [Home] James Kuffner - Assistant Professor <kuffner@cs.cmu.edu>
• Manfred Lau - PhD Student, CS <mlau@cs.cmu.edu>
• [Home] Philipp Michel - PhD Student, RI <pmichel@cs.cmu.edu>

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• An Intelligent Joystick for Biped Control
  J. Chestnutt, P. Michel, K. Nishiwaki, J. Kuffner, and S. Kagami
  Proceedings of the IEEE International Conference on Robotics and Automation, May, 2006, pp. 860 - 865. [Abstract]
  Download: pdf [1503 KB] copyrighted

• Online Environment Reconstruction for Biped Navigation
  P. Michel, J. Chestnutt, S. Kagami, K. Nishiwaki, J. Kuffner, and T. Kanade
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'06), May, 2006, pp. 3089 - 3094. [Abstract]
  Download: pdf [1986 KB] copyrighted

• Vision-Guided Humanoid Footstep Planning for Dynamic Environments
  P. Michel, J. Chestnutt, J. Kuffner, and T. Kanade
  Proceedings of the IEEE-RAS Conference on Humanoid Robots (Humanoids'05), December, 2005, pp. 13 - 18. [Abstract]
  Download: pdf [1799 KB] copyrighted

• Footstep Planning for the Honda ASIMO Humanoid
  J. Chestnutt, M. Lau, K.M. Cheung, J. Kuffner, J.K. Hodgins, and T. Kanade
  Proceedings of the IEEE International Conference on Robotics and Automation, April, 2005. [Abstract]
  Download: pdf [269 KB] copyrighted

• A Tiered Planning Strategy for Biped Navigation
  J. Chestnutt and J. Kuffner
  Proceedings of the IEEE - RAS / RSJ Conference on Humanoid Robots, November, 2004. [Abstract]
  Download: pdf [1880 KB] copyrighted

• Planning Biped Navigation Strategies in Complex Environments
  J. Chestnutt, J. Kuffner, K. Nishiwaki, and S. Kagami
  Proceedings of the 2003 International Conference on Humanoid Robots, October, 2003. [Abstract]
  Download: pdf [1872 KB] copyrighted

• Online Footstep Planning for Humanoid Robots
  J. Kuffner, K. Nishiwaki, S. Kagami, Y. Kuniyoshi, M. Inaba, and H. Inoue
  IEEE Int'l Conf. on Robotics and Automation (ICRA'2003), IEEE, September, 2003. [Abstract]
  Download: pdf [2597 KB] copyrighted