NAO humanoid robot motion planning based on its own kinematics

In this paper, an approach to whole body motion planning for humanoid robots using only onboard sensing is presented. Reliable and accurate motion sequence of motions for humanoid robots operating in complex indoor environments is a prerequisite for robots to fulfill high-level task. The design of complex dynamic motions is achievable only through the use of robot kinematics, which is an application of geometry to the study of arbitrary robotic chains. A sequence of actions for avoiding obstacles including, step over actions, as well as step onto/down actions is presented. As demonstrated in simulation as well as real world experiments with NAO humanoid the validity of the approach is examined and evaluated.

[1]  Georgios Pierris,et al.  An interactive tool for designing complex robot motion patterns , 2009, 2009 IEEE International Conference on Robotics and Automation.

[2]  Hanafiah Yussof,et al.  Humanoid robot NAO: Review of control and motion exploration , 2011, 2011 IEEE International Conference on Control System, Computing and Engineering.

[3]  Marc Toussaint,et al.  Whole-body Motion Planning – Building Blocks for Intelligent Systems , 2010 .

[4]  Zafer Bingul,et al.  Robot Kinematics: Forward and Inverse Kinematics , 2006 .

[5]  Eiichi Yoshida,et al.  Humanoid motion planning for dynamic tasks , 2005, 5th IEEE-RAS International Conference on Humanoid Robots, 2005..

[6]  Kamal Jamshidi,et al.  Curvilinear Bipedal Walk Learning in Nao Humanoid Robot Using a CPG Based Policy Gradient Method , 2011 .

[7]  David Gouaillier,et al.  Omni-directional closed-loop walk for NAO , 2010, 2010 10th IEEE-RAS International Conference on Humanoid Robots.

[8]  Nicolas Jouandeau,et al.  Walking patterns for real time path planning simulation of humanoids , 2012, 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication.

[9]  T. Röfer,et al.  A Robust Closed-Loop Gait for the Standard Platform League Humanoid , 2009 .

[10]  Maren Bennewitz,et al.  Whole-body motion planning for manipulation of articulated objects , 2013, 2013 IEEE International Conference on Robotics and Automation.

[11]  Tetsuji Ogawa,et al.  Vision based SLAM for humanoid robots: A survey , 2013, 2013 Second International Japan-Egypt Conference on Electronics, Communications and Computers (JEC-ECC).

[12]  Walid Gomaa,et al.  Complex motion planning for NAO humanoid robot , 2014, 2014 11th International Conference on Informatics in Control, Automation and Robotics (ICINCO).

[13]  Daniel Maier,et al.  Integrated perception, mapping, and footstep planning for humanoid navigation among 3D obstacles , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[14]  Maren Bennewitz,et al.  Autonomous climbing of spiral staircases with humanoids , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[15]  Maren Bennewitz,et al.  Humanoid robot localization in complex indoor environments , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[16]  Lambert Schomaker,et al.  2000 IEEE/RSJ International Conference On Intelligent Robots And Systems , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[17]  Bruno Maisonnier,et al.  Choregraphe: a graphical tool for humanoid robot programming , 2009, RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication.