Whole Body Locomotion Planning of Humanoid Robots based on a 3D Grid Map

Author

Kanehiro, Fumio ; Yoshimi, Takashi ; Kajita, Shuuji ; Morisawa, Mitsuharu ; Fujiwara, Kiyoshi ; Harada, Kensuke ; KANEKO, Kenji ; Hirukawa, Hirohisa ; Tomita, Fumiaki

Author_Institution

National Institute of Advanced Industrial Science and Technology(AIST) Tsukuba Central 2, 1-1-1 Umezono, Tukuba, Ibaraki, 305-8568 JAPAN f-kanehiro@aist.go.jp

fYear

2005

fDate

18-22 April 2005

Firstpage

1072

Lastpage

1078

Abstract

This paper proposes a method for a humanoid robot to generate 3D model of the environment using a stereo vision, find a movable space using it and plan feasible locomotion online. The model is generated by an accumulation of 3D grid maps which are made from the range data of the field of view obtained by a correlation based stereo vision. The locomotion is planned by an online whole body pattern generator which can modify robot’s waist height, an upper body posture and so on according to the size of the movable space.

Keywords

3D Grid Map; Humanoid Robot; Stereo Vision; Whole Body Locomotion; Biological system modeling; Humanoid robots; Legged locomotion; Mesh generation; Mobile robots; Orbital robotics; Robot vision systems; Space technology; Stereo vision; Technology planning; 3D Grid Map; Humanoid Robot; Stereo Vision; Whole Body Locomotion;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on

Print_ISBN

0-7803-8914-X

Type

conf

DOI

10.1109/ROBOT.2005.1570258

Filename

1570258