Abstract
An autonomous robot needs functions of environment recognition and motion planning when moving to a destination. In this paper, we propose a method to realize these functions for a biped robot which cannot accomplish self locating by odometry because of unstableness of its foot movement. In our method, the robot executes visual SLAM using images acquired with stereo camera, generates a 3-D grid map, and plans appropriate path and motions to the destination. Effectiveness of the proposed method was shown by experiment.
