December 6-8, 2010, Sheraton Nashville Downtown, Nashville, TN

Humanoids 2010 Paper Abstract


Paper  MP-II .2

Buschmann, Thomas (Technische Universitaet Muenchen), Lohmeier, Sebastian (Technical University Munich), Schwienbacher, Markus (Technische Universitaet Muenchen), Favot, Valerio (Technical University of Munich), Ulbrich, Heinz (Tech Univ Muenchen), von Hundelshausen, Felix (UniBW), Rohe, Gerhard (University of the Federal Armed Forces Munich), Wuensche, Hans J (UniBw Munich)

Walking in Unknown Environments a Step towards More Autonomy

Scheduled for presentation during the Interactive "Interactive Session II" ( MP-II ), Monday, December 6, 2010, 15:40−16:40, Ballroom 2/3

2010 IEEE-RAS International Conference on Humanoid Robots, December 6-8, 2010, Sheraton Nashville Downtown, Nashville, TN, USA

This information is tentative and subject to change. Compiled on March 26, 2015

Keywords Localization and Navigation, Biped Systems, Kinematics, Dynamics, and Control


We present a new approach to autonomous navigation for humanoid robots in previously unknown environments. Our method uses only on-board cameras and does not rely on color coding, textured surfaces or predefined object models. We propose using a reactive approach towards navigation that does not require building an explicit model of the environment. The basic idea of the navigation system is to check a set of precalculated feasible trajectories (called tentacles) for passability instead of searching for a path within a map. The computer vision system was combined with our real-time trajectory planning and control, enabling our robot LOLA to safely navigate in previously unknown environments.



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