Planning and Executing Navigation Among Movable Obstacles

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

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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.

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)},
year = {2006},
month = {October},
pages = {820 - 826},
keywords = {Planning, execution, navigation among movable obstacles, humanoid robotics, motion planning, walking, manipulation},
} 2017-09-13T10:42:30-04:00