Humanoid Arm Motion Planning Using Stereo Vision and RRT Search

Satoshi Kagami; James J. Kuffner; Koichi Nishiwaki; Kei Okada; Masayuki Inaba; Hirochika Inoue

doi:10.20965/jrm.2003.p0200

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JRM Vol.15 No.2 pp. 200-207

doi: 10.20965/jrm.2003.p0200

(2003)

Paper:

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Humanoid Arm Motion Planning Using Stereo Vision and RRT Search

Satoshi Kagami^,, James J. Kuffner^,*, Koichi Nishiwaki^, Kei Okada^, Masayuki Inaba^, and Hirochika Inoue^

^*Digital Human Lab., National Institute of Advanced Science and Technology, 2-41-6, Oumi, Kouto-ku, Tokyo, 135-0064 Japan

^**CREST Program, JST (Japan Science and Technology Corporation)

^***School of Computer Science, Carnegie Mellon University 5000, Forbes Ave., Pittsburgh, PA 15213-3891 USA

^****Dept. of Mechano-Informatics, School of Information Science and Technology, Univ. of Tokyo 7-3-1, Hongo, Bunkyo-ku, Tokyo, 113-8656 Japan

Received:

November 5, 2002

Accepted:

January 7, 2003

Published:

April 20, 2003

Keywords:

humanoid robot, motion planning, 3D vision

Abstract

This paper describes an experimental stereo vision based motion planning system for humanoid robots. The goal is to automatically generate arm trajectories that avoid obstacles in unknown environments from high-level task commands. Our system consists of three components: 1) environment sensing using stereo vision with disparity map generation and online consistency checking, 2) probabilistic mesh modeling in order to accumulate continuous vision input, and 3) motion planning for the robot arm using RRTs (Rapidly exploring Random Trees). We demonstrate results from experiments using an implementation designed for the humanoid robot H7.

Cite this article as:

S. Kagami, J. Kuffner, K. Nishiwaki, K. Okada, M. Inaba, and H. Inoue, “Humanoid Arm Motion Planning Using Stereo Vision and RRT Search,” J. Robot. Mechatron., Vol.15 No.2, pp. 200-207, 2003.

Data files:

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

Humanoid Arm Motion Planning Using Stereo Vision and RRT Search

Satoshi Kagami*,**, James J. Kuffner***,*, Koichi Nishiwaki****, Kei Okada****, Masayuki Inaba****, and Hirochika Inoue****

Satoshi Kagami^,, James J. Kuffner^,*, Koichi Nishiwaki^, Kei Okada^, Masayuki Inaba^, and Hirochika Inoue^