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Footstep planning for a humanoid robot using visually reconstructed terrain

Gabaret, Jonathan (2015) Footstep planning for a humanoid robot using visually reconstructed terrain. DLR-Interner Bericht. DLR-IB-RM-OP-2016-160. Master's. Hochschule Darmstadt. 73 S.

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This master’s thesis presents a footstep planning for a humanoid robot with perception and pro cessing of the visual information. Our approach consists of two main parts. First, the processing and the segmentation of the data from RGB-D cameras identify the ground and other planes where the robot can possibly step on. Then, methods such as pose estimation and 3D reconstruction are used to build a map of the environment. Second, we study and integrate the reachability map, which represents the kinematically feasible configurations to a path planning algorithm. The method has been implemented for the DLR humanoid robot TORO on the simulation using two walking methods. The first method uses the Divergent Component of Motions on a Linear Inverted Pendulum model with a feedback controller to generate the trajectory of the robot. The second method uses the multi-contact planner and controller approach which computes the center of mass position and the trajectories of the end-effectors. The results on simulation demonstrate the robustness and the suitability of our footstep planning approach.

Item URL in elib:https://elib.dlr.de/109760/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Footstep planning for a humanoid robot using visually reconstructed terrain
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Gabaret, JonathanHochschule DarmstadtUNSPECIFIED
Date:November 2015
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:73
Keywords:humanoid robots, motion planning
Institution:Hochschule Darmstadt
Department:Fachbereich Elektrotechnik und Informationstechnik
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Roa Garzon, Dr. Máximo Alejandro
Deposited On:20 Dec 2016 10:30
Last Modified:20 Dec 2016 10:30

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