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Autonomous Navigation of a Humanoid Robot Over Unknown Rough Terrain

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Robotics Research

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 100))

Abstract

The present paper describes the integration of laser-based perception, footstep planning, and walking control of a humanoid robot for navigation over previously unknown rough terrain. A perception system that obtains the shape of the surrounding environment to an accuracy of a few centimeters is realized based on input obtained using a scanning laser range sensor. A footstep planner decides the sequence of stepping positions using the obtained terrain shape. A walking controller that can cope with a few centimeters error in terrain shape measurement is achieved by combining 40 ms cycle online walking pattern generation and a sensor feedback ground reaction force controller. An operation interface that was developed to send commands to the robot is also presented. A mixed-reality display is adopted in order to realize intuitive interfaces. The navigation system is implemented on the HRP-2, a full-size humanoid robot. The performance of the proposed system for navigation over unknown rough terrain is investigated through several experiments.

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Authors and Affiliations

  1. Digital Human Research Center, National Institute of Advanced Industrial Science and Technology (AIST), 2-3-26, Aomi, Koto-Ku, Tokyo, 135-0064, Japan

    Koichi Nishiwaki & Satoshi Kagami

  2. Japan Science and Technology Agency, CREST, Tokyo, Japan

    Koichi Nishiwaki & Satoshi Kagami

  3. Boston Dynamics, Inc., 78 Fourth Avenue, Waltham, MA, 02451, USA

    Joel Chestnutt

Authors
  1. Koichi Nishiwaki
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  2. Joel Chestnutt
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  3. Satoshi Kagami
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Corresponding author

Correspondence to Koichi Nishiwaki .

Editor information

Editors and Affiliations

  1. Robotics and Intelligent Machines, Georgia Institute of Technology College of Computing, Atlanta, Georgia, USA

    Henrik I. Christensen

  2. Department of Computer Science, Stanford University, Stanford, California, USA

    Oussama Khatib

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Nishiwaki, K., Chestnutt, J., Kagami, S. (2017). Autonomous Navigation of a Humanoid Robot Over Unknown Rough Terrain. In: Christensen, H., Khatib, O. (eds) Robotics Research . Springer Tracts in Advanced Robotics, vol 100. Springer, Cham. https://doi.org/10.1007/978-3-319-29363-9_35

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  • DOI: https://doi.org/10.1007/978-3-319-29363-9_35

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-29362-2

  • Online ISBN: 978-3-319-29363-9

  • eBook Packages: EngineeringEngineering (R0)

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