Title:
Autonomous Environment Manipulation to Assist Humanoid Locomotion
Autonomous Environment Manipulation to Assist Humanoid Locomotion
| dc.contributor.author | Levihn, Martin | |
| dc.contributor.author | Nishiwaki, Koichi | |
| dc.contributor.author | Kagami, Satoshi | |
| dc.contributor.author | Stilman, Mike | |
| dc.contributor.corporatename | Georgia Institute of Technology. Institute for Robotics and Intelligent Machines | en_US |
| dc.contributor.corporatename | National Institute of Advanced Industrial Science and Technology (Japan). Digital Human Research Center | en_US |
| dc.date.accessioned | 2014-10-20T15:20:29Z | |
| dc.date.available | 2014-10-20T15:20:29Z | |
| dc.date.issued | 2014 | |
| dc.description | © 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | en_US |
| dc.description | Presented at the 2014 IEEE International Conference on Robotics and Automation (ICRA), May 31-June 7 2014, Hong Kong, China. | |
| dc.description | DOI: 10.1109/ICRA.2014.6907536 | |
| dc.description.abstract | Legged robots have unique capabilities to traverse complex environments by stepping over and onto objects. Many footstep planners have been developed to take advantage of these capabilities. However, legged robots also have inherent constraints such as a maximum step height and distance. These constraints typically limit their reachable space, independent of footstep planning. Thus, we propose that robots such as humanoid robots that have manipulation capabilities should use them. A robot should autonomously modify its environment if necessary. We present a system that enabled a real robot to use a box to create itself a stair step or place a board on the ground to cross a gap, allowing it to reach its otherwise unreachable goal configuration. | en_US |
| dc.embargo.terms | null | en_US |
| dc.identifier.citation | Martin Levihn, Koichi Nishiwaki, Satoshi Kagami, and Mike Stilman (2014). "Autonomous Environment Manipulation to Assist Humanoid Locomotion" Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2014), May 31-June 7 2014, pp. 4633-4638. | en_US |
| dc.identifier.doi | 10.1109/ICRA.2014.6907536 | |
| dc.identifier.uri | http://hdl.handle.net/1853/52661 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | |
| dc.subject | Footstep planning | en_US |
| dc.subject | Humanoid robots | en_US |
| dc.subject | Legged robots | en_US |
| dc.subject | Manipulation | en_US |
| dc.subject | Path planning | en_US |
| dc.title | Autonomous Environment Manipulation to Assist Humanoid Locomotion | en_US |
| dc.type | Text | |
| dc.type.genre | Pre-print | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.corporatename | Humanoid Robotics Laboratory | |
| relation.isOrgUnitOfPublication | 05bf85fb-965e-425d-af8b-dbf56e0d9797 |