NDLI: Motion planning for humanoid robots in environments modeled by vision

Content Provider	IEEE Xplore Digital Library
Author	Nakhaei, A. Lamiraux, F.
Copyright Year	2008
Description	Author affiliation: CNRS-LAAS, Univ. of Toulouse, Toulouse (Nakhaei, A.; Lamiraux, F.)
Abstract	The context of this work is vision-based motion planning for humanoid robots in an unknown environment. We present an efficient combination of on-line 3D environment modeling and motion planning methods for humanoid robots (e.g whole body motion and walking ) in non-static environment. To construct the model of the environment, we rely on 3D occupancy grid that is updated incrementally by stereo vision. As the dimension of configuration space is high for humanoid robots, a roadmap based method is used for motion planning. However, as the environment is not static, it is necessary to update the roadmap after receiving new visual information. In other words, the nodes and edges which are in collision, based on the new update of the environment, must be erased. Moreover, preliminary steps are necessary for considering the environment as a non-static model. As we construct the model incrementally by vision, several thousands points would appear in each update of the model. Therefore, updating the roadmap raises algorithmic complexity issues. Our approach is an extension of a recent idea to cope with the problem. After presenting the approach, we implement our method by planning a collision-free motion in a 3D occupancy grid model generated by HRP2 based on stereo vision. As the robot navigates in the environment, it receives updated information through its on-board cameras and refreshes the 3D model of the environment incrementally. Conventionally, the 3D model can be composed of up to millions of voxel. If the statuses of some voxels change, our method uses these changes to update the last roadmap locally. This updated roadmap is then reused for further motion planning. We evaluate our algorithm by measuring processing time and memory usage in each step and compare them with its descendant.
Starting Page	197
Ending Page	204
File Size	18282861
Page Count	8
File Format	PDF
ISBN	9781424428212
DOI	10.1109/ICHR.2008.4755945
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-12-01
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion planning Legged locomotion Road accidents Navigation Biological system modeling Robot vision systems Humanoid robots Cameras Stereo vision Mesh generation
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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