(Georgia Institute of Technology, 2007)
Stilman, Mike; Nishiwaki, Koichi; Kagami, Satoshi; Kuffner, James J.
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.