NAO walking down a ramp autonomously

Lutz, Christian; Atmanspacher, Felix; Hornung, Armin; Bennewitz, Maren

doi:10.1109/iros.2012.6386268

Cited by 9 publications

(3 citation statements)

References 5 publications

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“…The use of humanoid robots allows to navigate in more complex environment, and recently, some work has been done to make a humanoid robot go down a ramp [13] or climb stairs [14]. Yet, those methods use laser-based vision rather than point-cloud-based vision, so as to have a precise analysis of a known environment.…”

Section: Background and Motivationmentioning

confidence: 99%

Point-cloud multi-contact planning for humanoids: Preliminary results

Brossette

Vaillant

Keith

et al. 2013

2013 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM)

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Abstract-We present preliminary results in porting our multi-contact non-gaited motion planning framework to operate in real environments where the surroundings are acquired using an embedded camera together with a depth map sensor. We consider the robot to have no a priori knowledge of the environment, and propose a scheme to extract the information relevant for planning from an acquired point cloud. This yield the basis of an egocentric on-the-fly multi-contact planner. We then demonstrate its capacity with two simulation scenarios involving an HRP-2 robot in various environment before discussing some issues to be addressed in our quest to achieve a close loop between planning and execution in an environment explored through embedded sensors.

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Section: Background and Motivationmentioning

confidence: 99%

Point-cloud multi-contact planning for humanoids: Preliminary results

Brossette

Vaillant

Keith

et al. 2013

2013 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM)

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“…In fact, traditional linear models simplify the dynamics by constraining the vertical movement to have zero acceleration. A first solution commonly adopted consists in performing the transition movement mostly in double support (when both feet are on the ground and the support polygon is larger), and using quasi-static movements in single support [3]. In this way, the robot needs to stop or reduce considerably its speed at proximity of the edge, but provided that the robot can produce enough torque, this approach can usually deal with larger inclination changes than other more dynamic existing methods.…”

Section: Introductionmentioning

confidence: 99%

Dynamically transitioning between surfaces of varying inclinations to achieve uneven-terrain walking

Colasanto

Perrin

Tsagarakis

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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This paper focuses on how to generate dynamic transitions in order to make our robot COMAN (COmpliant huMANoid) dynamically traverse inclined terrains. The novel approach addresses dynamic walking on inclined surfaces by dividing the walking motion into two phases: transition and incline walking. During the transition phase, the humanoid robot performs a 3-dimensional movement in order to transfer its body between surfaces of different inclinations, which is then followed by the incline-walking phase. The transition phase is less trivial to execute than the incline walking itself. In this paper, we first formulate the equations of a 3D (non linear) Inverted Pendulum, and then we derive an equivalent model. Subsequently, we introduce a trajectory generator based on this model and validate it experimentally by performing, with COMAN, dynamic transitions from the horizontal ground to a 10 • slope.

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“…Strategies for stepping over obstacles have also been addressed [7]. Biped walking over ramps has been addressed in [8] and climbing of spiral staircases has also been studied in [9]. A form of crawling based on motion on all fours (infant-like crawling) has been proposed and implemented on the NAO in [12], which represents according to [12] the such experimental implementation of a crawling gait.…”

Section: Introductionmentioning

confidence: 99%

A multi-gait approach for humanoid navigation in cluttered environments

Brooks

Krishnamurthy

Khorrami

2014

The 26th Chinese Control and Decision Conference (2014 CCDC)

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A multi-gait approach is proposed in this paper for autonomous humanoid robot navigation and obstacle avoidance in unknown complex cluttered environments. The proposed approach is based on an environment-dependent adaptive switching between multiple gait strategies including, in particular, a new low-profile crawling gait that enables humanoid motion in tight vertically constrained spaces in addition to forward walking and side-stepping gaits. The path planning and obstacle avoidance system is based on the GODZILA algorithm that provides a computationally lightweight approach for navigation in unknown environments without requiring building of an environment map. The new low-profile crawling gait is laterally symmetric and utilizes a cooperative motion of both the hands and feet. The addition of this gait expands the set of environments that can be handled by the humanoid robot. The efficacy of the proposed approach is demonstrated through simulations and experimental studies on a NAO humanoid robot.

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NAO walking down a ramp autonomously

Cited by 9 publications

References 5 publications

Point-cloud multi-contact planning for humanoids: Preliminary results

Point-cloud multi-contact planning for humanoids: Preliminary results

Dynamically transitioning between surfaces of varying inclinations to achieve uneven-terrain walking

A multi-gait approach for humanoid navigation in cluttered environments

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