Autonomous 3D walking system for a humanoid robot based on visual step recognition and 3D foot step planner

This paper describes vision-based 3D walking system of a humanoid robot by combining a precise 3D planar surface detection method and a practical 3D footstep planner method. The walking control system requires vision system with 10[mm] accuracy. Then we developed the precise 3D planar surface recognition system by combining the 3D Hough transformation method and the robust estimation method. We also developed practical 3D foot step planner by considering kinematics and dynamics restriction of robot hardware. Finally, we realized vision based 3D walking experiments that a humanoid robot steps upon an unknown obstacle are shown.