A multi-gait approach for humanoid navigation in cluttered environments

G. Brooks, P. Krishnamurthy, Farshad Khorrami

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

Abstract

A multi-gait approach is proposed in this paper for autonomous humanoid robot navigation and obstacle avoidance in unknown complex cluttered environments. The proposed approach is based on an environment-dependent adaptive switching between multiple gait strategies including, in particular, a new low-profile crawling gait that enables humanoid motion in tight vertically constrained spaces in addition to forward walking and side-stepping gaits. The path planning and obstacle avoidance system is based on the GODZILA algorithm that provides a computationally lightweight approach for navigation in unknown environments without requiring building of an environment map. The new low-profile crawling gait is laterally symmetric and utilizes a cooperative motion of both the hands and feet. The addition of this gait expands the set of environments that can be handled by the humanoid robot. The efficacy of the proposed approach is demonstrated through simulations and experimental studies on a NAO humanoid robot.

Original languageEnglish (US)
Title of host publication26th Chinese Control and Decision Conference, CCDC 2014
PublisherIEEE Computer Society
Pages2708-2713
Number of pages6
ISBN (Print)9781479937066
DOIs
StatePublished - 2014
Event26th Chinese Control and Decision Conference, CCDC 2014 - Changsha, China
Duration: May 31 2014Jun 2 2014

Other

Other26th Chinese Control and Decision Conference, CCDC 2014
CountryChina
CityChangsha
Period5/31/146/2/14

Fingerprint

Navigation
Robots
Collision avoidance
Motion planning
Robot
Avoidance

Keywords

  • Adaptive Gaiting
  • Biped
  • Humanoid
  • Low-Profile Gaits
  • NAO
  • Obstacle Avoidance
  • Path Planning

ASJC Scopus subject areas

  • Information Systems and Management
  • Control and Systems Engineering

Cite this

Brooks, G., Krishnamurthy, P., & Khorrami, F. (2014). A multi-gait approach for humanoid navigation in cluttered environments. In 26th Chinese Control and Decision Conference, CCDC 2014 (pp. 2708-2713). [6852631] IEEE Computer Society. https://doi.org/10.1109/CCDC.2014.6852631

A multi-gait approach for humanoid navigation in cluttered environments. / Brooks, G.; Krishnamurthy, P.; Khorrami, Farshad.

26th Chinese Control and Decision Conference, CCDC 2014. IEEE Computer Society, 2014. p. 2708-2713 6852631.

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

Brooks, G, Krishnamurthy, P & Khorrami, F 2014, A multi-gait approach for humanoid navigation in cluttered environments. in 26th Chinese Control and Decision Conference, CCDC 2014., 6852631, IEEE Computer Society, pp. 2708-2713, 26th Chinese Control and Decision Conference, CCDC 2014, Changsha, China, 5/31/14. https://doi.org/10.1109/CCDC.2014.6852631
Brooks G, Krishnamurthy P, Khorrami F. A multi-gait approach for humanoid navigation in cluttered environments. In 26th Chinese Control and Decision Conference, CCDC 2014. IEEE Computer Society. 2014. p. 2708-2713. 6852631 https://doi.org/10.1109/CCDC.2014.6852631
Brooks, G. ; Krishnamurthy, P. ; Khorrami, Farshad. / A multi-gait approach for humanoid navigation in cluttered environments. 26th Chinese Control and Decision Conference, CCDC 2014. IEEE Computer Society, 2014. pp. 2708-2713
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