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Footstep planning in rough terrain for bipedal robots using curved contact patches

Kanoulas, D. and Stumpf, A. and Raghavan, V.S. and Zhou, C. and Toumpa, A. and Stryk, Oskar von and Caldwell, D.G. and Tsagarakis, N.G. (2018):
Footstep planning in rough terrain for bipedal robots using curved contact patches.
Brisbane, Australia, In: IEEE Int. Conf. on Robotics and Automation (ICRA), Brisbane, Australia, [Conference or Workshop Item]

Abstract

Bipedal robots have gained a lot of locomotion capabilities the past few years, especially in the control level. Navigation over complex and unstructured environments using exteroceptive perception, is still an active research topic. In this paper, we present a footstep planning system to produce foothold placements, using visual perception and proper environment modeling, given a black box walking controller. In particular, we extend a state-of-the-art search-based planning approach (ARA*) that produces 6DoF footstep sequences in 3D space for flat uneven terrain, to also handle rough curved surfaces, e.g. rocks. This is achieved by integrating both a curved patch modeling system for rough local terrain surfaces and a flat foothold contact analysis based on visual range input data, into the existing planning framework. The system is experimentally validated using real-world point clouds, while rough terrain stepping demonstrations are presented on the WALK-MAN humanoid robot, in simulation.

Item Type: Conference or Workshop Item
Erschienen: 2018
Creators: Kanoulas, D. and Stumpf, A. and Raghavan, V.S. and Zhou, C. and Toumpa, A. and Stryk, Oskar von and Caldwell, D.G. and Tsagarakis, N.G.
Title: Footstep planning in rough terrain for bipedal robots using curved contact patches
Language: English
Abstract:

Bipedal robots have gained a lot of locomotion capabilities the past few years, especially in the control level. Navigation over complex and unstructured environments using exteroceptive perception, is still an active research topic. In this paper, we present a footstep planning system to produce foothold placements, using visual perception and proper environment modeling, given a black box walking controller. In particular, we extend a state-of-the-art search-based planning approach (ARA*) that produces 6DoF footstep sequences in 3D space for flat uneven terrain, to also handle rough curved surfaces, e.g. rocks. This is achieved by integrating both a curved patch modeling system for rough local terrain surfaces and a flat foothold contact analysis based on visual range input data, into the existing planning framework. The system is experimentally validated using real-world point clouds, while rough terrain stepping demonstrations are presented on the WALK-MAN humanoid robot, in simulation.

Place of Publication: Brisbane, Australia
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Event Title: IEEE Int. Conf. on Robotics and Automation (ICRA)
Event Location: Brisbane, Australia
Date Deposited: 24 Jun 2019 13:07
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