Class #12: Humanoid and Legged Robots




A humanoid robot choosing where to place its feet among obstacles (left). A four-limbed robot deciding how to use holds to climb a steep wall (middle). Tele-operated climbing robots have already made their way into the toy industry (right)!!!

  • Topics
    - Foot placement
    - Stability constraint
    - Static vs. dynamic stability
    - Finding narrow passages by decomposing configuration space
  • Required Readings:
    • Motion planning for a humanoid robot:
      J. Kuffner, S. Kagami, M. Inaba, and H. Inoue. Dynamically-Stable Motion Planning for Humanoid Robots. Proc. Humanoids, 2000. [ps]
      J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue. Footstep Planning Among Obstacles for Biped Robots. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2001. [pdf]
    • Motion planning for a climbing robot:
      T. Bretl, J.C. Latombe, and S. Rock. Toward Autonomous Free-Climbing Robots. Int. Symp. on Robotics Research, Sienna, Italy, Oct. 2003. [pdf]
  • Other Readings:
    • Spider robot (planning foot placement):
      J.D. Boissonnat, O. Devillers, L. Donati. Motion Planning of Legged Robots: The Spider Robot Problem. Int. J. of Computational Geometry and Applications, 5(1-2):3-20, 1995. [pdf]

    • Other motion planning algorithm for legged robot:
      C. Elsershaw and M. Yim. Motion Planning of Legged Vehicles in Unstructured Environment. Int. IEEE Conf. on Robotics and Automation, Seoul, Korea, 2002. [pdf]

    • Manipulation planning for digital actor:
      Y. Koga, K. Kondo, J. Kuffner, and J.C. Latombe. Planning Motions with Intentions. Proc. SIGGRAPH'94, pages 395-408, 1995. [pdf]

  • Powerpoint slides:

o       Introduction

o       Paper 1

o       Paper 2