Authors:
Walaa Gouda
1
and
Walid Gomaa
2
Affiliations:
1
Egypt-Japan University for Science and Technology (E-JUST), Egypt
;
2
Egypt-Japan University for Science and Technology (E-JUST) and Alexandria University, Egypt
Keyword(s):
Whole Body Motion, Humanoid Robot, Complex Dynamic Motions , Robot Kinematics , Recognized Object.
Related
Ontology
Subjects/Areas/Topics:
Humanoid Robots
;
Informatics in Control, Automation and Robotics
;
Robotics and Automation
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.