Carnegie Mellon University
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Footstep Planning for Biped Robots
Head: James Kuffner
Contact: Joel Chestnutt
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213
Associated center(s) / consortia:
 Center for the Foundations of Robotics (CFR)
Associated lab(s) / group(s):
 Planning and Autonomy Lab
Project Homepage
As humanoid robots continue to advance and gain new capabilities, software for high-level control and autonomous motion generation will be required. One important area of research involves the design of algorithms to compute robust navigation strategies for humanoids in complex human environments. For indoor environments, this includes dealing with furniture, walls, stairs, doors, and possible objects on the floor. For outdoor environments, this includes the ability to navigate on rough terrain and uneven surfaces. Because legged robots have the ability to step over and onto obstacles in their path, they are uniquely suited to overcoming these difficulties. Our goal is to develop strategies for safely and efficiently traversing these complex enviroments which utilize the full extent of legged robots' capabilities.