Planning and Executing Navigation Among Movable Obstacles

Michael Stilman, Koichi Nishiwaki, Satoshi Kagami, and James Kuffner
IEEE/RSJ Int. Conf. On Intelligent Robots and Systems (IROS 06), October, 2006, pp. 820 - 826.


Download
  • Adobe portable document format (pdf) (2MB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
This paper explores autonomous locomotion, reaching, grasping and manipulation for the domain of Navigation Among Movable Obstacles (NAMO). The robot perceives and constructs a model of an environment filled with various fixed and movable obstacles, and automatically plans a navigation strategy to reach a desired goal location. The planned strategy consists of a sequence of walking and compliant manipulation operations. It is executed by the robot with online feedback. We give an overview of our NAMO system, as well as provide details of the autonomous planning, online grasping and compliant hand positioning during dynamically-stable walking. Finally, we present results of a successful implementation running on the Humanoid Robot HRP-2.

Keywords
Planning, execution, navigation among movable obstacles, humanoid robotics, motion planning, walking, manipulation

Notes
Associated Center(s) / Consortia: Center for the Foundations of Robotics
Associated Lab(s) / Group(s): Planning and Autonomy Lab
Associated Project(s): Navigation Among Movable Obstacles
Number of pages: 7

Text Reference
Michael Stilman, Koichi Nishiwaki, Satoshi Kagami, and James Kuffner, "Planning and Executing Navigation Among Movable Obstacles," IEEE/RSJ Int. Conf. On Intelligent Robots and Systems (IROS 06), October, 2006, pp. 820 - 826.

BibTeX Reference
@inproceedings{Stilman_2006_5585,
   author = "Michael Stilman and Koichi Nishiwaki and Satoshi Kagami and James Kuffner",
   title = "Planning and Executing Navigation Among Movable Obstacles",
   booktitle = "IEEE/RSJ Int. Conf. On Intelligent Robots and Systems (IROS 06)",
   pages = "820 - 826",
   month = "October",
   year = "2006",
}