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Footstep planning for the Honda ASIMO humanoid

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review

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Footstep planning for the Honda ASIMO humanoid. / Chestnutt, Joel; Lau, Manfred; Cheung, German et al.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005. ICRA 2005.. IEEE Press, 2005. p. 629-634.

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review

Harvard

Chestnutt, J, Lau, M, Cheung, G, Kuffner, J, Hodgins, J & Kanade, T 2005, Footstep planning for the Honda ASIMO humanoid. in Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005. ICRA 2005.. IEEE Press, pp. 629-634. https://doi.org/10.1109/ROBOT.2005.1570188

APA

Chestnutt, J., Lau, M., Cheung, G., Kuffner, J., Hodgins, J., & Kanade, T. (2005). Footstep planning for the Honda ASIMO humanoid. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005. ICRA 2005. (pp. 629-634). IEEE Press. https://doi.org/10.1109/ROBOT.2005.1570188

Vancouver

Chestnutt J, Lau M, Cheung G, Kuffner J, Hodgins J, Kanade T. Footstep planning for the Honda ASIMO humanoid. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005. ICRA 2005.. IEEE Press. 2005. p. 629-634 doi: 10.1109/ROBOT.2005.1570188

Author

Chestnutt, Joel ; Lau, Manfred ; Cheung, German et al. / Footstep planning for the Honda ASIMO humanoid. Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005. ICRA 2005.. IEEE Press, 2005. pp. 629-634

Bibtex

@inproceedings{0d4f3a5a10584186b82753bc97fed769,
title = "Footstep planning for the Honda ASIMO humanoid",
abstract = "Despite the recent achievements in stable dynamic walking for many humanoid robots, relatively little navigation autonomy has been achieved. In particular, the ability to autonomously select foot placement positions to avoid obstacles while walking is an important step towards improved navigation autonomy for humanoids. We present a footstep planner for the Honda ASIMO humanoid robot that plans a sequence of footstep positions to navigate toward a goal location while avoiding obstacles. The possible future foot placement positions are dependent on the current state of the robot. Using a finite set of state-dependent actions, we use an A* search to compute optimal sequences of footstep locations up to a time-limited planning horizon. We present experimental results demonstrating the robot navigating through both static and dynamic known environments that include obstacles moving on predictable trajectories.",
keywords = "Humanoid robots , biped locomotion , footstep planning , obstacle avoidance",
author = "Joel Chestnutt and Manfred Lau and German Cheung and James Kuffner and Jessica Hodgins and Takeo Kanade",
year = "2005",
month = sep,
doi = "10.1109/ROBOT.2005.1570188",
language = "English",
isbn = "0-7803-8914-X ",
pages = "629--634",
booktitle = "Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005. ICRA 2005.",
publisher = "IEEE Press",

}

RIS

TY - GEN

T1 - Footstep planning for the Honda ASIMO humanoid

AU - Chestnutt, Joel

AU - Lau, Manfred

AU - Cheung, German

AU - Kuffner, James

AU - Hodgins, Jessica

AU - Kanade, Takeo

PY - 2005/9

Y1 - 2005/9

N2 - Despite the recent achievements in stable dynamic walking for many humanoid robots, relatively little navigation autonomy has been achieved. In particular, the ability to autonomously select foot placement positions to avoid obstacles while walking is an important step towards improved navigation autonomy for humanoids. We present a footstep planner for the Honda ASIMO humanoid robot that plans a sequence of footstep positions to navigate toward a goal location while avoiding obstacles. The possible future foot placement positions are dependent on the current state of the robot. Using a finite set of state-dependent actions, we use an A* search to compute optimal sequences of footstep locations up to a time-limited planning horizon. We present experimental results demonstrating the robot navigating through both static and dynamic known environments that include obstacles moving on predictable trajectories.

AB - Despite the recent achievements in stable dynamic walking for many humanoid robots, relatively little navigation autonomy has been achieved. In particular, the ability to autonomously select foot placement positions to avoid obstacles while walking is an important step towards improved navigation autonomy for humanoids. We present a footstep planner for the Honda ASIMO humanoid robot that plans a sequence of footstep positions to navigate toward a goal location while avoiding obstacles. The possible future foot placement positions are dependent on the current state of the robot. Using a finite set of state-dependent actions, we use an A* search to compute optimal sequences of footstep locations up to a time-limited planning horizon. We present experimental results demonstrating the robot navigating through both static and dynamic known environments that include obstacles moving on predictable trajectories.

KW - Humanoid robots

KW - biped locomotion

KW - footstep planning

KW - obstacle avoidance

U2 - 10.1109/ROBOT.2005.1570188

DO - 10.1109/ROBOT.2005.1570188

M3 - Conference contribution/Paper

SN - 0-7803-8914-X

SP - 629

EP - 634

BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005. ICRA 2005.

PB - IEEE Press

ER -