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IROS
2006
IEEE

Planning and Executing Navigation Among Movable Obstacles

9 years 5 months ago
Planning and Executing Navigation Among Movable Obstacles
Abstract— This paper explores autonomous locomotion, reaching, grasping and manipulation for the domain of Navigation Among Movable Obstacles (NAMO). The robot perceives and constructs a model of an environment filled with various fixed and movable obstacles, and automatically plans a navigation strategy to reach a desired goal location. The planned strategy consists of a sequence of walking and compliant manipulation operations. It is executed by the robot with online feedback. We give an overview of our NAMO system, as well as provide details of the autonomous planning, online grasping and compliant hand positioning during dynamically-stable walking. Finally, we present results of a successful implementation running on the Humanoid Robot HRP-2.
Mike Stilman, Koichi Nishiwaki, Satoshi Kagami, Ja
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Mike Stilman, Koichi Nishiwaki, Satoshi Kagami, James J. Kuffner
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