Autonomous Navigation of a Humanoid Robot Over Unknown Rough Terrain
作者： Koichi Nishiwaki , Joel Chestnutt , Satoshi Kagami
DOI: 10.1007/978-3-319-29363-9_35
关键词:
摘要: The present paper describes the integration of laser-based perception, footstep planning, and walking control a humanoid robot for navigation over previously unknown rough terrain. A perception system that obtains shape surrounding environment to an accuracy few centimeters is realized based on input obtained using scanning laser range sensor. planner decides sequence stepping positions terrain shape. controller can cope with error in measurement achieved by combining 40 ms cycle online pattern generation sensor feedback ground reaction force controller. An operation interface was developed send commands also presented. mixed-reality display adopted order realize intuitive interfaces. implemented HRP-2, full-size robot. performance proposed investigated through several experiments.
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