Motion planning and collision avoidance strategy by contact interaction in humanoid robot navigation

Abstract This paper present analyses of collision avoidance strategy in conjunction with motion planning in contact interaction based navigation system for humanoid robot. We developed the navigation system based on contact interaction to support and improve current visual-based navigation. In our approach, motion planning is design based on contact interaction of the robot arms to perform searching, touching and grasping motion in order to recognize its surrounding condition. Meanwhile, the collision checking is performed by searching motion of the robot's arms that created a radius of detection area within the arm's reach, which considered as collision free area when no object is detected. We conducted geometrical analysis using Rapid-2D software to define absolute collision free trajectory area in bipedal walking motion of humanoid robot Bonten-Maru II. The analysis result revealed optimum step size of humanoid robot to perform biped walk in various directions. Performance of the proposed collision avoidance strategy was verified in experiment with humanoid robot Bonten-Maru II to operate in a room with wall and obstacles, which results revealed good performance of the robot navigation.

[1]  Gordon Cheng,et al.  Continuous humanoid interaction: : An integrated perspective - gaining adaptivity, redundancy, flexibility - in one , 2001, Robotics Auton. Syst..

[2]  Masahiro Ohka,et al.  Development of a contact interaction-based navigation strategy for a biped humanoid robot , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[3]  Ian P. W. Sillitoe,et al.  Becoming incrementally reactive: on-line learning of an evolving decision tree array for robot navigation , 1999, Robotica.

[4]  Masahiro Ohka,et al.  Navigation Strategy by Contact Sensing Interaction for a Biped Humanoid Robot , 2008 .

[5]  Jacky Baltes,et al.  Fuzzy Potential Energy for a Map Approach to Robot navigation , 2006, 2006 IEEE International Conference on Fuzzy Systems.

[6]  Olivier Stasse,et al.  Real-time 3D SLAM for Humanoid Robot considering Pattern Generator Information , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[7]  Ronald C. Arkin,et al.  Exploring Unknown Structured Environments , 2001, FLAIRS.

[8]  Shigeki Sugano,et al.  Development of emotional communication robot: WAMOEBA-2R-experimental evaluation of the emotional communication between robots and humans , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[9]  Takayuki Kanda,et al.  Navigation for human-robot interaction tasks , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[10]  J. Chestnutt,et al.  Planning Biped Navigation Strategies in Complex Environments , 2003 .

[11]  Kostas J. Kyriakopoulos,et al.  An integrated collision prediction and avoidance scheme for mobile robots in non-stationary environments , 1993, Autom..