CaltechAUTHORS
  A Caltech Library Service

Footstep and motion planning in semi-unstructured environments using randomized possibility graphs

Grey, Michael X. and Ames, Aaron D. and Liu, C. Karen (2017) Footstep and motion planning in semi-unstructured environments using randomized possibility graphs. In: 2017 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 4747-4753. ISBN 978-1-5090-4633-1. https://resolver.caltech.edu/CaltechAUTHORS:20170725-083100456

[img] PDF - Accepted Version
See Usage Policy.

1161Kb

Use this Persistent URL to link to this item: https://resolver.caltech.edu/CaltechAUTHORS:20170725-083100456

Abstract

Traversing environments with arbitrary obstacles poses significant challenges for bipedal robots. In some cases, whole body motions may be necessary to maneuver around an obstacle, but most existing footstep planners can only select from a discrete set of predetermined footstep actions; they are unable to utilize the continuum of whole body motion that is truly available to the robot platform. Existing motion planners that can utilize whole body motion tend to struggle with the complexity of large-scale problems. We introduce a planning method, called the “Randomized Possibility Graph”, which uses high-level approximations of constraint manifolds to rapidly explore the “possibility” of actions, thereby allowing lower-level motion planners to be utilized more efficiently. We demonstrate simulations of the method working in a variety of semi-unstructured environments. In this context, “semi-unstructured” means the walkable terrain is flat and even, but there are arbitrary 3D obstacles throughout the environment which may need to be stepped over or maneuvered around using whole body motions.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ICRA.2017.7989551DOIArticle
https://arxiv.org/abs/1610.00700arXivDiscussion Paper
Additional Information:© 2017 IEEE. This work was supported by DARPA grant D15AP00006.
Funders:
Funding AgencyGrant Number
Defense Advanced Research Projects Agency (DARPA)D15AP00006
Subject Keywords:Manifolds, Planning, Navigation, Legged locomotion, Shape, Three-dimensional displays
Record Number:CaltechAUTHORS:20170725-083100456
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20170725-083100456
Official Citation:M. X. Grey, A. D. Ames and C. K. Liu, "Footstep and motion planning in semi-unstructured environments using randomized possibility graphs," 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, Singapore, 2017, pp. 4747-4753. doi: 10.1109/ICRA.2017.7989551 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7989551&isnumber=7988677
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:79320
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:25 Jul 2017 16:14
Last Modified:03 Oct 2019 18:18

Repository Staff Only: item control page