Vision-guided humanoid footstep planning for dynamic environments

Michel, P.; Chestnutt, Joel; Kuffner, James; Kanade, Takeo

doi:10.1109/ichr.2005.1573538

Cited by 123 publications

(79 citation statements)

References 20 publications

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“…We define a set of outputs (also referred to as virtual constraints), y ∈ R m , for the control system (20), which consists of velocity regulating and position modulating terms. These are defined as the difference between the actual output, y a (x) and desired output, y d (τ, α),…”

Section: B Hybrid Zero Dynamics (Hzd) Control A) Virtual Constraintsmentioning

confidence: 99%

“…Motion planning for humanoid robots has been commonly addressed through planning of footstep placements in constrained environments to handle obstacles, while operating within kinematic limits of the robot. In [20], a vision-based foot placement method is proposed, and implemented on the humanoid robot ASIMO, that searches over a discrete set of actions to avoid obstacles while reaching the goal. A real-time planning algorithm is presented in [3] that utilizes RRTs to search over dense, pre-computed swept volumes to avoid collision with moving 3D obstacles.…”

Section: Introductionmentioning

confidence: 99%

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Discrete Control Barrier Functions for Safety-Critical Control of Discrete Systems with Application to Bipedal Robot Navigation

Agrawal

Sreenath

2017

Robotics: Science and Systems XIII

189

158

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Abstract-In this paper, we extend the concept of control barrier functions, developed initially for continuous time systems, to the discrete-time domain. We demonstrate safety-critical control for nonlinear discrete-time systems with applications to 3D bipedal robot navigation. Particularly, we mathematically analyze two different formulations of control barrier functions, based on their continuous-time counterparts, and demonstrate how these can be applied to discrete-time systems. We show that the resulting formulation is a nonlinear program in contrast to the quadratic program for continuous-time systems and under certain conditions, the nonlinear program can be formulated as a quadratically constrained quadratic program. Furthermore, using the developed concept of discrete control barrier functions, we present a novel control method to address the problem of navigation of a high-dimensional bipedal robot through environments with moving obstacles that present time-varying safety-critical constraints.

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Section: B Hybrid Zero Dynamics (Hzd) Control A) Virtual Constraintsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Discrete Control Barrier Functions for Safety-Critical Control of Discrete Systems with Application to Bipedal Robot Navigation

Agrawal

Sreenath

2017

Robotics: Science and Systems XIII

189

158

View full text Add to dashboard Cite

show abstract

“…Finally, there exist navigation systems for humanoid robots which use external sensors to track the robot's pose, e.g., as proposed by Michel et al [18], [19].…”

Section: Related Workmentioning

confidence: 99%

Humanoid robot localization in complex indoor environments

Hornung

Wurm

Bennewitz

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

113

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Abstract-In this paper, we present a localization method for humanoid robots navigating in arbitrary complex indoor environments using only onboard sensing. Reliable and accurate localization for humanoid robots operating in such environments is a challenging task. First, humanoids typically execute motion commands rather inaccurately and odometry can be estimated only very roughly. Second, the observations of the small and lightweight sensors of most humanoids are seriously affected by noise. Third, since most humanoids walk with a swaying motion and can freely move in the environment, e.g., they are not forced to walk on flat ground only, a 6D torso pose has to be estimated. We apply Monte Carlo localization to globally determine and track a humanoid's 6D pose in a 3D world model, which may contain multiple levels connected by staircases. To achieve a robust localization while walking and climbing stairs, we integrate 2D laser range measurements as well as attitude data and information from the joint encoders. We present simulated as well as real-world experiments with our humanoid and thoroughly evaluate our approach. As the experiments illustrate, the robot is able to globally localize itself and accurately track its 6D pose over time.

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“…There are many applications that rely on motion planning, such as: systems for robot guidance, assembly and disassembly, and computer animation [6]. Many researchers [3,7,8] have concentrated on various approaches to generate reliable and stable gaits with feedback, and also on developing global navigation autonomy for humanoid robots. Emphasis has primarily been laid on pre-generating walking trajectories, online trajectory generation, and dynamic balance, without accounting for obstacles.…”

Section: Introductionmentioning

confidence: 99%

“…The ability of these bipedal humanoid robots to step over and onto obstacles makes them ideally suited for environments designed for humans [1]. They have been attracting many researchers due to their performance of human-like behaviors [1][2][3]. As the robot body has many degrees of freedom, the robot shape and its available actions are approximated for finding solutions efficiently [2,4].…”

Section: Introductionmentioning

confidence: 99%

Online motion planning for HOAP-2 humanoid robot navigation

Elmogy

Habel

Zhang

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Autonomous robot navigation is becoming an increasingly important research topic for mobile robots. In the last few years, significant progress has been made towards stable robotic bipedal walking. This is creating an increased research interest in developing autonomous navigation strategies which are tailored specifically to humanoid robots. Efficient approaches to perception and motion planning, which are suited to the unique characteristics of biped humanoid robots and their typical operating environments, are receiving special interest. In this paper, we present a time-efficient motion planning system for a Fujitsu HOAP-2 humanoid robot. The sampling based algorithm is used to provide the robot with minimal free configuration space which is sampled to extract the robot path. For collision detection, a cylinder model is used to approximate the trajectory for the body center of the humanoid robot during navigation. It calculates the actual distances required to execute different actions of the robot and compares them with the distances to the nearest obstacles. The A* search algorithm is then implemented to find smooth and low-cost footstep placements of the humanoid robot within the resulting configuration space. The proposed hybrid algorithm reduces searching time and produces a smoother path for the humanoid robot at a low cost.

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Vision-guided humanoid footstep planning for dynamic environments

Cited by 123 publications

References 20 publications

Discrete Control Barrier Functions for Safety-Critical Control of Discrete Systems with Application to Bipedal Robot Navigation

Discrete Control Barrier Functions for Safety-Critical Control of Discrete Systems with Application to Bipedal Robot Navigation

Humanoid robot localization in complex indoor environments

Online motion planning for HOAP-2 humanoid robot navigation

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