実環境における歩行安定性と移動効率を考慮した２足歩行ロボットの歩行軌道計画

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1) I developed an algorithm to predict friction and its uncertainty from images at all pixels, based on material recognition.2) I improved the motion planning system, which now accounts for energy, stability, friction, collision, and uncertainty in perception. These are accounted for at both footstep and full-body motion planning levels thanks to a hierarchical architecture with oracles at lower levels predicting costs at higher levels.3) I evaluated the whole system on the real robot and in realistic simulations, in environments with different ground materials. The system was able to correctly identify the materials and friction, thus making intelligent footstep planning choices.The research was presented at the IEEE Humanoids conference and was a finalist for the Best Oral Paper award.