The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2019
Session ID : 1A1-K07
Conference information

Host: The Japan Society of Mechanical Engineers

Name : [in Japanese]

Date : June 05, 2019 - June 08, 2019

Observation Motion Planning for Detecting an Object by a Humanoid Robot
*Masato TSURU, Pierre GERGONDET, Tomohiro MOTODA, Ixchel RAMIREZ, Adrien ESCANDE, Weiwei WAN, Eiichi YOSHIDA, Kensuke HARADA
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Keywords: Humanoid robots, Motion planning, Object detection, Markov decision process
CONFERENCE PROCEEDINGS RESTRICTED ACCESS

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Abstract

In this research, we propose a method for observation/action planning for detecting an object by a humanoid robot. We first generate a candidate of observation postures of an object to possibly find an object. The observation posture is determined by introducing the Partially Observable Markov Decision Process (POMDP). To move to the determined observation posture, we use the real time walking pattern generator. The effectiveness of the proposed approach is confirmed by using the humanoid robot HRP-2X.

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© 2019 The Japan Society of Mechanical Engineers
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