Complex Motion Planning for NAO Humanoid Robot

Walaa Gouda, Walid Gomaa

2014

Abstract

In this paper, we introduce an integrated approach that enables a humanoid robot to plan and robustly execute whole body motions including stepping over, climbing up or down obstacles as well as climbing up straight staircase using only onboard sensing. Reliable and accurate sequence of motions for humanoid robots operating in complex indoor environments is a prerequisite for robots to fulfill high level tasks. The design of complex dynamic motions is achievable only through the use of robot kinematics. Based on the recognized object from the robot database, using the robot camera, a sequence of actions for avoiding that object is executed. As demonstrated in simulation as well as real world experiments with NAO humanoid, NAO can reliably execute robustly whole body movements in cluttered, multi-level environments containing objects of various shapes and sizes.

Paper Citation

in Harvard Style

Gouda W. and Gomaa W. (2014). Complex Motion Planning for NAO Humanoid Robot . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 402-409. DOI: 10.5220/0005051904020409

in Bibtex Style

@conference{icinco14,
author={Walaa Gouda and Walid Gomaa},
title={Complex Motion Planning for NAO Humanoid Robot},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={402-409},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005051904020409},
isbn={978-989-758-040-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Complex Motion Planning for NAO Humanoid Robot
SN - 978-989-758-040-6
AU - Gouda W.
AU - Gomaa W.
PY - 2014
SP - 402
EP - 409
DO - 10.5220/0005051904020409