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Dr. WALAA Gouda :: Publications:

Title:
Complex motion planning for NAO humanoid robot
Authors: Walaa Gouda, Walid Gomaa
Year: 2014
Keywords: Complex Dynamic Motions, Humanoid Robot, Recognized Object, Robot Kinematics, Whole Body Motion
Journal: Informatics in Control, Automation and Robotics (ICINCO), 2014 11th International Conference on
Volume: 2
Issue: Not Available
Pages: 402 - 409
Publisher: IEEE
Local/International: International
Paper Link:
Full paper Not Available
Supplementary materials Not Available
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.

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