An adaptive action model for legged navigation planning

Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007

Volumn , Issue , 2007, Pages 196-202

  Chestnutt, Joel ^a   Nishiwaki, Koichi ^b   Kuffner, James ^a,b   Kagami, Satoshi ^b  

^a CARNEGIE MELLON UNIVERSITY   (United States)

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

Author keywords

[No Author keywords available]

Indexed keywords

ANTHROPOMORPHIC ROBOTS; ROBOTICS;

ACTION MODELING; ACTION MODELS; FOOT PLACEMENTS; LEGGED ROBOTS; NAVIGATION PLANNING; SEARCH PROCESS;

ROBOT PROGRAMMING;

EID: 67649690454     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICHR.2007.4813868     Document Type: Conference Paper

References (28)

1. Y. Ayaz, K. Munawar, M. B. Malik, A. Konno, and M. Uchiyama. Human-like approach to footstep planning among obstacles for humanoid robots. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006.
2. J. E. Bares and D. S. Wettergreen. Dante ii: Technical description, results, and lessons learned. International Journal of Robotics Research, 18(7):621-649, July 1999.
3. T. Bretl. Motion planning of multi-limbed robots subject to equilibrium constraints: The free-climbing robot problem. International Journal of Robotics Research, 25(4):317-342, April 2006.
4. T. Bretl, S. Rock, and J.-C. Latombe. Motion planning for a three-limbed climbing robot in vertical natural terrain. In Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan, September 2003.
5. J. Chestnutt, J. Kuffner, K. Nishiwaki, and S. Kagami. Planning biped navigation strategies in complex environments. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots, Karlsruhe, Germany, October 2003.
6. J. Chestnutt, M. Lau, G. Cheng, J. Kuffner, J. Hodgins, and T. Kanade. Footstep planning for the Honda ASIMO humanoid. In Proceedings of the IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 2005.
7. J.-S. Gutmann, M. Fukuchi, and M. Fujita. A floor and obstacle height map for 3d navigation of a humanoid robot. In Proceedings of the IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 2005.
8. K. Hauser, T. Bretl, and J.-C. Latombe. Learning-assisted multi-step planning. In Proceedings of the IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 2005.
9. K. Hauser, T. Bretl, and J.-C. Latombe. Non-gaited humanoid locomotion planning. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots, Tsukuba, Japan, 2005.
10. R. Hodoshima, T. Doi, Y. Fukuda, S. Hirose, T. Okamoto, and J. Mori. Development of TITAN XI: a quadruped walking robot to work on slopes - design of system and mechanism. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, 2004.
11. M. Kallmann, R. Bargmann, and M. Mataric'. Planning the sequencing of movement primitives. In Proceedings of the International Conference on Simulation of Adaptive Behavior, 2004.
12. F. Kanehiro, T. Yoshimi, S. Kajita, M. Morisawa, K. Fujiwara, K. Harada, K. Kaneko, H. Hirukawa, and F. Tomita. Whole body locomotion planning of humanoid robots based on a 3d grid map. In Proceedings of the IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 2005.
13. E. Krotkov, J. Bares, T. Kanade, T. Mitchell, R. Simmons, and W. R. L. Whittaker. Ambler: a six-legged planetary rover. In Fifth International Conference on Advanced Robotics, 1991, Robots in Unstructured Environments (ICAR '91), volume 1, pages 717 - 722, June 1991.
14. J. Kuffner. Goal-directed navigation for animated characters using realtime path planning and control. In Proc. CAPTECH '98 : Workshop on Modelling and Motion Capture Techniques for Virtual Environments, pages 171-186, 1998.
15. J. Kuffner, S. Kagami, K. Nishiwaki, M. Inaba, and H. Inoue. Dynamically-stablemotion planning for humanoid robots. Autonomous Robots, 12(1):105-118, January 2002.
16. H. Lee, Y. Shen, C.-H. Yu, G. Singh, and A. Y. Ng. Quadruped robot obstacle negotiation via reinforcement learning. In Proceedings of the IEEE International Conference on Robotics and Automation, 2006.
17. T.-Y. Li, P.-F. Chen, and P.-Z. Huang. Motion planning for humanoid walking in a layered environment. In Proceedings of the IEEE International Conference on Robotics and Automation, 2003.
18. O. Lorch, A. Albert, J. Denk, M. Gerecke, R. Cupec, J. Seara, W. Gerth, and G. Schmidt. Experiments in vision-guided biped walking. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002.
19. O. Lorch, J. Denk, J. F. Seara, M. Buss, F. Freyberger, and G. Schmidt. ViGWaM - an emulation environment for a vision guided virtual walking machine. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots, 2000.
20. P. Michel, J. Chestnutt, S. Kagami, K. Nishiwaki, J. Kuffner, and T. Kanade. Online environment reconstruction for biped navigation. In Proceedings of the IEEE International Conference on Robotics and Automation, May 2006.
21. P. Michel, J. Chestnutt, S. Kagami, K. Nishiwaki, J. Kuffner, and T. Kanade. GPU-accelerated real-time 3D tracking for humanoid locomotion. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007.
22. K. Okada, T. Ogura, A. Haneda, and M. Inaba. Autonomous 3D walking system for a humanoid robot based on visual step recognition and 3D foot step planner. In Proceedings of the IEEE International Conference on Robotics and Automation, 2005.
23. J. Pettre, J.-P. Laumond, and T. Simeon. A 2-stages locomotion planner for digital actors. In Proc. SIGGRAPH Symp. on Computer Animation, 2003.
24. K. Sabe, M. Fukuchi, J.-S. Gutmann, T. Ohashi, K. Kawamoto, , and T. Yoshigahara. Obstacle avoidance and path planning for humanoid robots using stereo vision. In Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, April 2004.
25. A. Stentz. Optimal and efficient path planning for partially-known environments. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 3310-3317, 1994.
26. M. Stilman, P. Michel, J. Chestnutt, K. Nishiwaki, S. Kagami, and J. Kuffner. Augmented reality for robot development and experimentation. Technical Report CMU-RI-TR-05-55, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, November 2005.
27. D. Wettergreen and C. Thorpe. Developing planning and reactive control for a hexapod robot. In Proceedings of ICRA '96, volume 3, pages 2718 - 2723, April 1996.
28. M. Yagi and V. Lumelsky. Biped robot locomotion in scenes with unknown obstacles. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 375-380, Detroit, MI, May 1999.