Planning and Executing Navigation Among Movable Obstacles

Author

Stilman, Mike ; Nishiwaki, Koichi ; Kagami, Satoshi ; Kuffner, James J.

Author_Institution

Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA

fYear

2006

fDate

Oct. 2006

Firstpage

820

Lastpage

826

Abstract

This paper explores autonomous locomotion, reaching, grasping and manipulation for the domain of navigation among movable obstacles (NAMO). The robot perceives and constructs a model of an environment filled with various fixed and movable obstacles, and automatically plans a navigation strategy to reach a desired goal location. The planned strategy consists of a sequence of walking and compliant manipulation operations. It is executed by the robot with online feedback. We give an overview of our NAMO system, as well as provide details of the autonomous planning, online grasping and compliant hand positioning during dynamically-stable walking. Finally, we present results of a successful implementation running on the humanoid robot HRP-2

Keywords

feedback; humanoid robots; manipulators; mobile robots; path planning; stability; HRP-2; autonomous locomotion; autonomous planning; compliant hand positioning; compliant manipulation operations; dynamic stability; humanoid robot; navigation among movable obstacles; online feedback; online grasping; walking operation; Humanoid robots; Humans; Intelligent robots; Legged locomotion; Navigation; Orbital robotics; Robotics and automation; Service robots; Solid modeling; Technology planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0259-X

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.281731

Filename

4058462