Footstep Planning for the Honda ASIMO Humanoid
- 1 September 2005
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
Despite the recent achievements in stable dynamic walking for many humanoid robots, relatively little navigation autonomy has been achieved. In particular, the ability to autonomously select foot placement positions to avoid obstacles while walking is an important step towards improved navigation autonomy for humanoids. We present a footstep planner for the Honda ASIMO humanoid robot that plans a sequence of footstep positions to navigate toward a goal location while avoiding obstacles. The possible future foot placement positions are dependent on the current state of the robot. Using a finite set of state-dependent actions, we use an A* search to compute optimal sequences of footstep locations up to a time-limited planning horizon. We present experimental results demonstrating the robot navigating through both static and dynamic known environments that include obstacles moving on predictable trajectories.Keywords
This publication has 24 references indexed in Scilit:
- A tiered planning strategy for biped navigationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Online generation of humanoid walking motion based on a fast generation method of motion pattern that follows desired ZMPPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Biped robot locomotion in scenes with unknown obstaclesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Online mixture and connection of basic motions for humanoid walking control by footprint specificationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Interactive control of avatars animated with human motion dataACM Transactions on Graphics, 2002
- From Footprints to AnimationComputer Graphics Forum, 1997
- On computing the global time-optimal motions of robotic manipulators in the presence of obstaclesIEEE Transactions on Robotics and Automation, 1991
- Interactive Design of 3D Computer-Animated Legged Animal MotionIEEE Computer Graphics and Applications, 1987
- Time-Optimal Control of Robotic Manipulators Along Specified PathsThe International Journal of Robotics Research, 1985
- A Study of Design and Control of a Quadruped Walking VehicleThe International Journal of Robotics Research, 1984