Graphics enhanced version of this site

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.

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

Adobe portable document format (pdf) [1799 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 stable walking capabilities of modern biped humanoid robots, their ability to autonomously and safely navigate obstacle-filled, unpredictable environments has so far been limited. We present an approach to autonomous humanoid walking that combines vision-based sensing with a footstep planner, allowing the robot to navigate toward a desired goal position while avoiding obstacles. An environment map including the robot, goal, and obstacle locations is built in real-time from vision. The footstep planner then computes an optimal sequence of footstep locations within a time-limited planning horizon. Footstep plans are reused and only partially recomputed as the environment changes during the walking sequence. In our experiments, combining real-time vision with plan reuse has allowed a Honda ASIMO humanoid robot to autonomously traverse dynamic environments containing unpredictably moving obstacles.

Associated centers: VASC and CFR
Associated lab/group: Planning and Autonomy Lab
Associated projects: Perception for Humanoid Robots and Footstep Planning for Biped Robots

Number of pages: 6

P. Michel, J. Chestnutt, J. Kuffner, and T. Kanade, "Vision-Guided Humanoid Footstep Planning for Dynamic Environments," Proceedings of the IEEE-RAS Conference on Humanoid Robots (Humanoids'05), December, 2005, pp. 13 - 18.

@inproceedings{Michel_2005_5160,
   author = "Philipp Michel and Joel Chestnutt and James Kuffner and Takeo Kanade",
   title = "Vision-Guided Humanoid Footstep Planning for Dynamic Environments",
   booktitle = "Proceedings of the IEEE-RAS Conference on Humanoid Robots (Humanoids'05)",
   month = "December",
   year = "2005",
   pages = "13 - 18"
}