運搬状況に応じた踏破性マップに基づくヒューマノイドの自律移動システム

抄録

Object transportation by a humanoid robot has not been achieved in a complicated environment. Although footstep planning is used for humanoid robot navigation, it is not applied to the navigation for the object transportation, because it is difficult to follow the planned footsteps while keeping balance. In this paper, we aim to build a navigation system, which the planner plans a path based on the common navigation system and the controller decides where to step on within the given steppable regions. In the system, the traversability of the environment and the manipulability of the transported object are considered to achieve the object transportation. We verify the effectiveness of the proposed system by experiments in simulation environments.