Biped humanoid navigation system supervised through interruptible user-interface with asynchronous vision and foot sensor monitoring

摘要: Biped robots are expected to explore in the unknown environment which has undulate floors and a lot of obstacles on floors. Such kind difficult for wheeled mobile robots. In addition planning recognition functionality, interruption from operators systems important change behavior navigation system. order achieve tasks safely, as system detects unexpected situation, need direct suitable goal parameters planner. this paper, we show capable by operators. The communication between not continuous instruction but interruption. keys are: 1) integration across different machines according supervised autonomy framework. 2) fast vision based modeling 3-D footstep support operator goals. 3) interruptible scheduling execution cancel walking monitoring operator's instructions. We implement real robot, HRP-2, effectiveness through experiments.