The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

We present the concept of an "intelligent" joystick, an architecture which provides simple and intuitive high-level directional control of a legged robot while adjusting the actual foot placements autonomously to avoid stepping in undesirable places. The general concept can be likened to riding a horse: high-level commands are provided, while the "intelligence" of the underlying system selects proper foot placements with respect to the shape and properties of the underlying terrain and overall balance considerations. We demonstrate a prototype system used for realtime control of the humanoid robot HRP-2.

Keywords

biped, navigation, legged robots

Notes

Associated Center(s) / Consortia: Center for the Foundations of Robotics

Associated Lab(s) / Group(s): Planning and Autonomy Lab

Associated Project(s): Footstep Planning for Biped Robots

Number of pages: 6

Text Reference

Joel Chestnutt, Philipp Michel, Koichi Nishiwaki, James Kuffner, and Satoshi Kagami, "An Intelligent Joystick for Biped Control," Proceedings of the IEEE International Conference on Robotics and Automation, May, 2006, pp. 860 - 865.

BibTeX Reference

@inproceedings{Chestnutt_2006_5320,
   author = "Joel Chestnutt and Philipp Michel and Koichi Nishiwaki and James Kuffner and Satoshi Kagami",
   title = "An Intelligent Joystick for Biped Control",
   booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation",
   pages = "860 - 865",
   month = "May",
   year = "2006",
}

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