Biped navigation in rough environments using on-board sensing

Authors:
Joel Chestnutt;Yutaka Takaoka;Keisuke Suga;Koichi Nishiwaki;James Kuffner;Satoshi Kagami
Affiliations:
Digital Human Research Center, AIST, Tokyo, Japan;TOYOTA Motor Corporation, Toyota, Aichi, Japan;TOYOTA Motor Corporation, Toyota, Aichi, Japan;Digital Human Research Center, AIST, Tokyo, Japan;The Robotics Insitute, Carnegie Mellon University, Pittsburgh, PA and Digital Human Research Center, AIST, Tokyo, Japan;Digital Human Research Center, AIST, Tokyo, Japan
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

We present an approach to navigating a biped robot safely and efficiently through a complicated environment of previously unknown obstacles and terrain using only on-board sensing and odometry. Sensing of the environment is performed by a pivoting laser scanner, which continues to update the terrain representation as the robot walks. Safe stepping motions are planned from this data to follow the user's command, given in the form of an end goal, a rough path, or a joystick input. Results are demonstrated on a prototype robot in several environments.