Dynamically stepping over obstacles by the humanoid robot HRP-2

Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS

Volumn , Issue , 2006, Pages 117-123

  Verreist, Björn ^a   Stasse, Olivier ^a   Yokoi, Kazuhito ^a   Vanderborght, Bram ^b  

^a NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY AIST   (Japan)

^b VRIJE UNIVERSITEIT BRUSSEL   (Belgium)

Author keywords

[No Author keywords available]

Indexed keywords

CHLORINE COMPOUNDS; PROJECT MANAGEMENT; ROBOTICS; ROBOTS; STABILITY CRITERIA; STANDARDS;

CENTER-OF-GRAVITY; COLLISION-FREE TRAJECTORIES; COMPLEX ENVIRONMENTS; DYNAMIC BALANCING; DYNAMIC MOTIONS; HUMANOID ROBOT; HUMANOID ROBOTS; INTERNATIONAL CONFERENCES; LIVING ENVIRONMENT; PROOF OF CONCEPTS; QUASI-STATIC; RESEARCH PLATFORMS; SEVERAL MEASURES; ZERO MOMENT POINTS;

INTELLIGENT ROBOTS;

EID: 40249115117     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICHR.2006.321372     Document Type: Conference Paper

References (14)

1. S. Thompson and S. Kagami, "Humanoid robot localisation using stereo vision," in Proc. IEEE International Conference on Humanoid Robots, (Tsukuba, Japan), pp. 19-25, IEEE, 2005.
2. C. Burghart, R. Mikut, R. Stiefelhagen, T. Asfour, H. Holzapfel, P. Steinhaus, and R. Dillmann, "A cognitive architecture for a humanoid robot: A first approach," in Proc. IEEE International Conference on Humanoid Robots, (Tsukuba, Japan), pp. 357-362, IEEE, December 2005.
3. N. Ee Sian, K. Yokoi, S. Kajita, and K. Tanie, "A stable foot teleoperation method for humanoid robots," in Proc. IEEE International Conference on Robotics and Automation, (New Orleans, USA), pp. 1065 - 1070, April 2004.
4. R. Cupec, and G. Schmidt "An Approach to Environment Modelling for Biped Walking Robots" in Proc. IRS/RSJ International Conference on Intelligent Robots and Systems., (Alberta, Canada), pp. 3089 - 3094, IEEE, August 2005.
5. O. Lorch, A. Albert, J. Denk, M. Gerecke, R. Cupec, J.F. Seara, W. Gerth and G. Schmidt "Experiments in Vision-Guided Biped Walking" in Proc IRS/RSJ International Conference on Intelligent Robots and Systems., (EPFL, Lausanne, Switzerland), pp. 2484-2490, IEEE, October 2002.
6. P. Michel, J. Chestnutt, J. Kuffner, and T. Kanade, "Vision-guided humanoid footstep planning for dynamic environments," in Proc. International Conference on Humanoid Robots, (Tsukuba, Japan), pp. 13-18, IEEE, December 2005.
7. J.F. Seara, K.H. Strobl, and G. Schmidt "Information Managment for Gaze Control in Vision Guided Biped Walking" in Proc. IRS/RSJ International Conference on Intelligent Robots and Systems., (EPFL, Lausanne, Switzerland), pp. 31-36, IEEE, October 2002]
8. M. Yagi, and V. Lumelsky, "Biped Robot Locomotion in Scenes with Unknown Obstacles, " in Proc. International Conference on Robotics and Automation, (Detroit, Michigan, USA), pp. 375-380, IEEE, May 1999.
9. K. Kaneko, F. Kanehiro, S. Kajita, H. Hirukawa, T. Kawasaki, M. Hirata, K. Akachi, and T. Isozumi, "Humanoid robot HRP-2," in Proceedings of the IEEE International Conference on Robotics and Automation, (New Orleans, USA), pp. 1083-1090, 2004.
10. Y. Guan, K. Yokoi, and K. Tanie, "Feasibility: Can humanoid robots overcome given obstacles?," in Proc IEEE International Conference on Robotics and Automation, (Barcelona, Spain), pp. 1066-1071, IEEE, April 2005.
11. B. Verrelst, K. Yokoi, O. Stasse, H., Arisumi and B., Vanderborght "Mobility of Humanoid Robots: Stepping Over Large Obstacles Dynamically" in Proc. IEEE International Conference on Mechatronics and Automation, (Henan, Luoyang, China), IEEE, June 2006.
12. S. Kajita, K. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, and H. Hirukawa, "Biped walking pattern generation by using preview control of zero-moment point," in Proc. IEEE International Conference on Robotics and Automation, (Taipei, Taiwan), pp. 1620-1626, IEEE, 2003.
13. K. Kaneko, F. Kanehiro, S. Kajita, M. Morisawa, K. Fujiwara, K. Harada and H. Hirukawa, "Slip Observer for Walking on a Low Friction Floor" in Proc. IRS/RSJ International Conference on Intelligent Robots and Systems., (Alberta, Canada), pp. 1457-1463, IEEE, August 2005.
14. K. Yokoi, F. Kanehiro, K. Kaneko, K. Fujiwara, S. Kajita, and H. Hirukawa, "A honda humanoid robot controlled by AIST software," in Proceedings of the IEEE/RAS International Conference on Humanoid Robots, (Tokyo, Japan), pp. 259-264, 2001.