Planning and Executing Navigation Among Movable Obstacles
Planning and Executing Navigation Among Movable Obstacles
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DOI：
10.1163/156855307782227408
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发表时间：
2006-10
期刊：
影响因子：
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通讯作者：
Mike Stilman;K. Nishiwaki;S. Kagami;J. Kuffner
中科院分区：
文献类型：
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作者：
Mike Stilman;K. Nishiwaki;S. Kagami;J. Kuffner
本文探讨了对可移动障碍物（NAMO）之间导航领域的自主运动，抓住，抓握和操纵。机器人感知并构建了一个充满各种固定和可移动障碍的环境的模型，并自动计划导航策略以达到所需的目标位置。计划的策略包括一系列步行和合规操作。它由机器人通过在线反馈执行。我们概述了我们的NAMO系统，并在动态稳定的步行过程中提供了自主计划，在线抓握和兼容的手部定位的详细信息。最后，我们提出了成功实施的人类机器人HRP-2的结果
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