Interactive control of humanoid navigation

Authors:
Joel Chestnutt;Koichi Nishiwaki;James Kuffner;Satoshi Kagami
Affiliations:
Digital Human Research Center, National Institute of Advanced Industrial Science & Technology, Tokyo, Japan;Digital Human Research Center, National Institute of Advanced Industrial Science & Technology, Tokyo, Japan;Digital Human Research Center, National Institute of Advanced Industrial Science & Technology, Tokyo, Japan and The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA;Digital Human Research Center, National Institute of Advanced Industrial Science & Technology, Tokyo, Japan
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 3
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Abstract

We present a method for interactively guiding the navigation of a humanoid robot through complex terrain via an intuitive path-drawing interface. In contrast to full autonomy or direct teleoperation of the robot, the user suggests an overall global navigation route by "drawing" a path onto the environment while the robot is walking. The path is used by a footstep planner that searches online for a sequence of suitable footstep locations that follow the indicated path as closely as possible while respecting the robot dynamics and overall navigation safety. In this way, the planner provides the robot partial autonomy in selecting precise footstep sequences while the human operator retains high-level control of the global navigation route. We present experimental results of the complete system on the biped humanoid HRP-2 navigating on and around various platforms, chairs, and stairs. We use an augmented reality system so that interactively drawing paths on the world is intuitive and natural.