Motion Planning of Biped Robot Equipped with Stereo Camera Using Grid Map

Recognizing its surroundings is important for biped robots seeking a destination. In this paper, we propose a motion planning method of a biped robot including path planning and obstacle avoidance. The robot obtains distance information on its surrounding environment from images captured by a stereo camera system, and generates a 3D map, then, builds a 2D grid map that locates flat floor regions, obstacle regions, bump regions, gate regions, and un-measured regions to decide its path by using the 2D grid map. Experimental results confirm the effectiveness of the proposed method.

[1]  Masahiro Fujita,et al.  Stair climbing for humanoid robots using stereo vision , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[2]  Masayuki Inaba,et al.  Online footstep planning for humanoid robots , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[3]  Kazunori Umeda.  A compact range image sensor suitable for robots , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[4]  Kazunori Umeda,et al.  Obstacle Detection of a Humanoid on a Plane Using a Relative Disparity Map Obtained by a Small Range Image Sensor , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[5]  Masahiro Fujita,et al.  A Floor and Obstacle Height Map for 3D Navigation of a Humanoid Robot , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[6]  Takeshi Ohashi,et al.  Obstacle avoidance and path planning for humanoid robots using stereo vision , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[7]  Takeo Kanade,et al.  Online environment reconstruction for biped navigation , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[8]  Jun Ota,et al.  Motion planning of multiple mobile robots for Cooperative manipulation and transportation , 2003, IEEE Trans. Robotics Autom..

[9]  Shuuji Kajita,et al.  Cybernetic human HRP-4C , 2009, 2009 9th IEEE-RAS International Conference on Humanoid Robots.

[10]  Atsushi Yamashita,et al.  Three-Dimensional Environment Model Construction from an Omnidirectional Image Sequence , 2009, J. Robotics Mechatronics.

[11]  Shuuji Kajita,et al.  Whole Body Locomotion Planning of Humanoid Robots based on a 3D Grid Map , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[12]  Atsushi Yamashita,et al.  Obstacle Avoidance and Path Planning using Color Information for a Biped Robot Equipped with a Stereo Camera System , 2010, AISM 2010.

[13]  Kazuhito Yokoi,et al.  Locomotion planning of humanoid robots to pass through narrow spaces , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[14]  Shuuji Kajita,et al.  Kinodynamic Planning for Humanoid Robots Walking on Uneven Terrain , 2009, J. Robotics Mechatronics.

[15]  Atsushi Yamashita,et al.  Chroma Key Using a Checker Pattern Background , 2007, IEICE Trans. Inf. Syst..

[16]  Kenji Terabayashi,et al.  Construction of a compact range image sensor using multi-slit laser projector and obstacle detection of a humanoid with the sensor , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[17]  Takeo Kanade,et al.  Vision-guided humanoid footstep planning for dynamic environments , 2005, 5th IEEE-RAS International Conference on Humanoid Robots, 2005..

[18]  Atsushi Yamashita,et al.  Path and viewpoint planning of mobile robots with multiple observation strategies , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[19]  Atsushi Yamashita,et al.  Removal of Adherent Noises in Images by Using Multiple Cameras , 2007 .

[20]  Toshikazu Kawasaki,et al.  Design of prototype humanoid robotics platform for HRP , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[21]  Takeo Kanade,et al.  Footstep Planning for the Honda ASIMO Humanoid , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[22]  Steven M. LaValle,et al.  Planning algorithms , 2006 .

[23]  Satoshi Kagami,et al.  Humanoid robot localisation using stereo vision , 2005, 5th IEEE-RAS International Conference on Humanoid Robots, 2005..