Low-profile crawling for humanoid motion in tight spaces

G. Brooks, P. Krishnamurthy, F. Khorrami

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

Abstract

While humanoid robots and various associated algorithms for gait control and motion planning have been considered in the prior literature, the possibility of utilizing a low-profile crawling gait to operate in tight spaces (e.g., going under obstacles) has not been considered previously and enables new capabilities of the humanoid robot. In this paper, a new gait for humanoid robots is presented that enables humanoid motion in tight spaces that are vertically constrained. The 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 gait is demonstrated experimentally on a NAO humanoid robot.

Original languageEnglish (US)
Title of host publicationIROS Hamburg 2015 - Conference Digest
Subtitle of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5930-5935
Number of pages6
ISBN (Electronic)9781479999941
DOIs
StatePublished - Dec 11 2015
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
Duration: Sep 28 2015Oct 2 2015

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2015-December
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
CountryGermany
CityHamburg
Period9/28/1510/2/15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Brooks, G., Krishnamurthy, P., & Khorrami, F. (2015). Low-profile crawling for humanoid motion in tight spaces. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 5930-5935). [7354220] (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7354220