Related papers: Humanoid Path Planning over Rough Terrain using Tr…
To increase the speed of operation and reduce operator burden, humanoid robots must be able to function autonomously, even in complex, cluttered environments. For this to be possible, they must be able to quickly and efficiently compute…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…
The enhanced mobility brought by legged locomotion empowers quadrupedal robots to navigate through complex and unstructured environments. However, optimizing agile locomotion while accounting for the varying energy costs of traversing…
Traversing narrow paths is challenging for humanoid robots due to the sparse and safety-critical footholds required. Purely template-based or end-to-end reinforcement learning-based methods suffer from such harsh terrains. This paper…
In trying to build humanoid robots that perform useful tasks in a world built for humans, we address the problem of autonomous locomotion. Humanoid robot planning and control algorithms for walking over rough terrain are becoming…
In this paper, we deal with the problem of full-body path planning for walking robots. The state of walking robots is defined in multi-dimensional space. Path planning requires defining the path of the feet and the robot's body. Moreover,…
It is a challenging task for ground robots to autonomously navigate in harsh environments due to the presence of non-trivial obstacles and uneven terrain. This requires trajectory planning that balances safety and efficiency. The primary…
This article proposes a new path planning method for addressing multi-level terrain situations. The proposed method includes innovations in three aspects: 1) the pre-processing of point cloud maps with a multi-level skip-list structure and…
Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…
In this work, we present an approach to planning for humanoid mobility. Humanoid mobility is a challenging problem, as the configuration space for a humanoid robot is intractably large, especially if the robot is capable of performing many…
Although bipedal locomotion provides the ability to traverse unstructured environments, it requires careful planning and control to safely walk across without falling. This poses an integrated challenge for the robot to perceive, plan, and…
We consider the problem of planning a collision-free path for a high-dimensional robot. Specifically, we suggest a planning framework where a motion-planning algorithm can obtain guidance from a user. In contrast to existing approaches that…
Driving in an off-road environment is challenging for autonomous vehicles due to the complex and varied terrain. To ensure stable and efficient travel, the vehicle requires consideration and balancing of environmental factors, such as…
The quality of the visual feedback can vary significantly on a legged robot that is meant to traverse unknown and unstructured terrains. The map of the environment, acquired with online state-of-the-art algorithms, often degrades after a…
Humanoid robots maintain balance and navigate by controlling the contact wrenches applied to the environment. While it is possible to plan dynamically-feasible motion that applies appropriate wrenches using existing methods, a humanoid may…
Humanoid robots rely on multi-contact planners to navigate a diverse set of environments, including those that are unstructured and highly constrained. To synthesize stable multi-contact plans within a reasonable time frame, most planners…
High-speed legged navigation in discrete and geometrically complex environments is a challenging task because of the high-degree-of-freedom dynamics and long-horizon, nonconvex nature of the optimization problem. In this work, we propose a…
Autonomous robots navigating in off-road terrain like forests open new opportunities for automation. While off-road navigation has been studied, existing work often relies on clearly delineated pathways. We present a method allowing for…
Inspired by human behavior when traveling over unknown terrain, this study proposes the use of probing strategies and integrates them into a traversability analysis framework to address safe navigation on unknown rough terrain. Our…
Unstructured environments such as mountains, caves, construction sites, or disaster areas are challenging for autonomous navigation because of terrain irregularities. In particular, it is crucial to plan a path to avoid risky terrain and…