The Robotics Institute

Carnegie Mellon Robotics Institute

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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",
}

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