Motion Planning of Biped Robot Equipped with Stereo Camera Using Grid Map

Abstract

Recognizing its surroundings is important for biped robots seeking a destination. In this paper, we propose a motion planning method of a biped robot including path planning and obstacle avoidance. The robot obtains distance information on its surrounding environment from images captured by a stereo camera system, and generates a 3D map, then, builds a 2D grid map that locates flat floor regions, obstacle regions, bump regions, gate regions, and un-measured regions to decide its path by using the 2D grid map. Experimental results confirm the effectiveness of the proposed method.

DOI: 10.20965/ijat.2011.p0639

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Cite this paper

@article{Yamashita2011MotionPO, title={Motion Planning of Biped Robot Equipped with Stereo Camera Using Grid Map}, author={Atsushi Yamashita and Masaaki Kitaoka and Toru Kaneko}, journal={IJAT}, year={2011}, volume={5}, pages={639-647} }