Class #12: Humanoid and Legged Robots

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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