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Open Source Integrated 3D Footstep Planning Framework for Humanoid Robots

Stumpf, Alexander and Kohlbrecher, Stefan and Stryk, Oskar von and Conner, David C. (2016):
Open Source Integrated 3D Footstep Planning Framework for Humanoid Robots.
In: Humanoids 2016 - IEEE-RAS International Conference on Humanoid Robotics, Cancún, Mexico, 15-17 November 2016, DOI: 10.1109/HUMANOIDS.2016.7803385, [Conference or Workshop Item]

Abstract

Humanoid robots benefit from their anthropomorphic shape when operating in human-made environments. In order to achieve human-like capabilities, robots must be able to perceive, understand and interact with the surrounding world. Humanoid locomotion in uneven terrain is a challenging task as it requires sophisticated world model generation, motion planning and control algorithms and their integration. In recent years, much progress in world modeling and motion control has been achieved. This paper presents one of the very first open source frameworks for full 3D footstep planning available for ROS which integrates perception and locomotion systems of humanoid bipedal robots. The framework is designed to be used for different type of humanoid robots having different perception and locomotion capabilities with minimal implementation effort. In order to integrate with almost any humanoid walking controller, the system can easily be extended with additional functionality that may be needed by low-level motion algorithms. It also considers sophisticated human-robot interaction that enables to direct the planner to generate improved solutions, provides monitoring data to the operator and debugging feedback for developers. The provided software package consists of three major blocks that address world generation, planning and interfacing low-level motion algorithms. The framework has been successfully applied to four different full-size humanoid robots.

Item Type: Conference or Workshop Item
Erschienen: 2016
Creators: Stumpf, Alexander and Kohlbrecher, Stefan and Stryk, Oskar von and Conner, David C.
Title: Open Source Integrated 3D Footstep Planning Framework for Humanoid Robots
Language: English
Abstract:

Humanoid robots benefit from their anthropomorphic shape when operating in human-made environments. In order to achieve human-like capabilities, robots must be able to perceive, understand and interact with the surrounding world. Humanoid locomotion in uneven terrain is a challenging task as it requires sophisticated world model generation, motion planning and control algorithms and their integration. In recent years, much progress in world modeling and motion control has been achieved. This paper presents one of the very first open source frameworks for full 3D footstep planning available for ROS which integrates perception and locomotion systems of humanoid bipedal robots. The framework is designed to be used for different type of humanoid robots having different perception and locomotion capabilities with minimal implementation effort. In order to integrate with almost any humanoid walking controller, the system can easily be extended with additional functionality that may be needed by low-level motion algorithms. It also considers sophisticated human-robot interaction that enables to direct the planner to generate improved solutions, provides monitoring data to the operator and debugging feedback for developers. The provided software package consists of three major blocks that address world generation, planning and interfacing low-level motion algorithms. The framework has been successfully applied to four different full-size humanoid robots.

Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Event Title: Humanoids 2016 - IEEE-RAS International Conference on Humanoid Robotics
Event Location: Cancún, Mexico
Event Dates: 15-17 November 2016
Date Deposited: 29 Nov 2018 08:18
DOI: 10.1109/HUMANOIDS.2016.7803385
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