Whole body locomotion planning of humanoid robots based on a 3D grid map

Fumio Kanehiro, Takashi Yoshimi, Shuuji Kajita, Mitsuharu Morisawa, Kiyoshi Fujiwara, Kensuke Harada, Kenji Kaneko, Hirohisa Hirukawa, Fumiaki Tomita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

47 Citations (Scopus)

Abstract

This paper proposes a method for a humanoid robot to generate 3D model of the environment using a stereo vision, find a movable space using it and plan feasible locomotion online. The model is generated by an accumulation of 3D grid maps which are made from the range data of the field of view obtained by a correlation based stereo vision. The locomotion is planned by an online whole body pattern generator which can modify robot's waist height, an upper body posture and so on according to the size of the movable space.

Original languageEnglish
Title of host publicationProceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages1072-1078
Number of pages7
DOIs
Publication statusPublished - 2005 Dec 1
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: 2005 Apr 182005 Apr 22

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2005
ISSN (Print)1050-4729

Conference

Conference2005 IEEE International Conference on Robotics and Automation
CountrySpain
CityBarcelona
Period05/4/1805/4/22

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Keywords

  • 3D grid map
  • Humanoid robot
  • Stereo vision
  • Whole body locomotion

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Kanehiro, F., Yoshimi, T., Kajita, S., Morisawa, M., Fujiwara, K., Harada, K., Kaneko, K., Hirukawa, H., & Tomita, F. (2005). Whole body locomotion planning of humanoid robots based on a 3D grid map. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation (pp. 1072-1078). [1570258] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005). https://doi.org/10.1109/ROBOT.2005.1570258