Graphics enhanced version of this site

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.

Jump to: Download | Abstract | Notes | Text Reference | BibTeX Reference

Adobe portable document format (pdf) [269 KB]

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.

Despite the recent achievements in stable dynamic walking for many humanoid robots, relatively little navigation autonomy has been achieved. In particular, the ability to autonomously select foot placement positions to avoid obstacles while walking is an important step towards improved navigation autonomy for humanoids. We present a footstep planner for the Honda ASIMO humanoid robot that plans a sequence of footstep positions to navigate toward a goal location while avoiding obstacles. The possible future foot placement positions are dependent on the current state of the robot. Using a finite set of state-dependent actions, we use an A* search to compute optimal sequences of footstep locations up to a time-limited planning horizon. We present experimental results demonstrating the robot navigating through both static and dynamic known environments that include obstacles moving on predictable trajectories.

Associated center: CFR
Associated lab/group: Planning and Autonomy Lab
Associated project: Footstep Planning for Biped Robots

Number of pages: 6

J. Chestnutt, M. Lau, K.M. Cheung, J. Kuffner, J.K. Hodgins, and T. Kanade, "Footstep Planning for the Honda ASIMO Humanoid," Proceedings of the IEEE International Conference on Robotics and Automation, April, 2005.

@inproceedings{Chestnutt_2005_4970,
   author = "Joel Chestnutt and Manfred Lau and Kong Man Cheung and James Kuffner and Jessica K Hodgins and Takeo Kanade",
   title = "Footstep Planning for the Honda ASIMO Humanoid",
   booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation",
   month = "April",
   year = "2005"
}