Planning and executing navigation among movable obstacles

This paper explores autonomous locomotion, reaching, grasping and manipulation for the domain of navigation among movable obstacles (NAMO). The robot perceives and constructs a model of an environment filled with various fixed and movable obstacles, and automatically plans a navigation strategy to r...

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Bibliographic Details
Published in:Advanced robotics 2007-01, Vol.21 (14), p.1617-1634
Main Authors: Stilman, Mike, Nishiwaki, Koichi, Kagami, Satoshi, Kuffner, James J.
Format: Article
Language:English
Subjects:
HUMANOID
MANIPULATION
MOTION PLANNING
MOVABLE OBSTACLES
NAMO
NAVIGATION AMONG MOVABLE OBJECTS
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Summary:This paper explores autonomous locomotion, reaching, grasping and manipulation for the domain of navigation among movable obstacles (NAMO). The robot perceives and constructs a model of an environment filled with various fixed and movable obstacles, and automatically plans a navigation strategy to reach a desired goal location. The planned strategy consists of a sequence of walking and compliant manipulation operations. It is executed by the robot with online feedback. We give an overview of our NAMO system, as well as provide details of the autonomous planning, online grasping and compliant hand positioning during dynamically stable walking. Finally, we present results of a successful implementation running on the humanoid robot HRP-2.
ISSN:0169-1864
1568-5535
DOI:10.1163/156855307782227408