Show simple item record

dc.contributor.authorLevihn, Martin
dc.contributor.authorNishiwaki, Koichi
dc.contributor.authorKagami, Satoshi
dc.contributor.authorStilman, Mike
dc.date.accessioned2014-10-20T15:20:29Z
dc.date.available2014-10-20T15:20:29Z
dc.date.issued2014
dc.identifier.citationMartin Levihn, Koichi Nishiwaki, Satoshi Kagami, and Mike Stilman (2014). "Autonomous Environment Manipulation to Assist Humanoid Locomotion" Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2014), May 31-June 7 2014, pp. 4633-4638.en_US
dc.identifier.urihttp://hdl.handle.net/1853/52661
dc.description© 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.en_US
dc.descriptionPresented at the 2014 IEEE International Conference on Robotics and Automation (ICRA), May 31-June 7 2014, Hong Kong, China.
dc.descriptionDOI: 10.1109/ICRA.2014.6907536
dc.description.abstractLegged robots have unique capabilities to traverse complex environments by stepping over and onto objects. Many footstep planners have been developed to take advantage of these capabilities. However, legged robots also have inherent constraints such as a maximum step height and distance. These constraints typically limit their reachable space, independent of footstep planning. Thus, we propose that robots such as humanoid robots that have manipulation capabilities should use them. A robot should autonomously modify its environment if necessary. We present a system that enabled a real robot to use a box to create itself a stair step or place a board on the ground to cross a gap, allowing it to reach its otherwise unreachable goal configuration.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectFootstep planningen_US
dc.subjectHumanoid robotsen_US
dc.subjectLegged robotsen_US
dc.subjectManipulationen_US
dc.subjectPath planningen_US
dc.titleAutonomous Environment Manipulation to Assist Humanoid Locomotionen_US
dc.typePre-printen_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Institute for Robotics and Intelligent Machinesen_US
dc.contributor.corporatenameNational Institute of Advanced Industrial Science and Technology (Japan). Digital Human Research Centeren_US
dc.publisher.originalInstitute of Electrical and Electronics Engineers
dc.identifier.doi10.1109/ICRA.2014.6907536
dc.embargo.termsnullen_US


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record