Low-profile crawling for humanoid motion in tight spaces

G. Brooks; P. Krishnamurthy; F. Khorrami

doi:10.1109/IROS.2015.7354220

Low-profile crawling for humanoid motion in tight spaces

G. Brooks, P. Krishnamurthy, F. Khorrami

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

While humanoid robots and various associated algorithms for gait control and motion planning have been considered in the prior literature, the possibility of utilizing a low-profile crawling gait to operate in tight spaces (e.g., going under obstacles) has not been considered previously and enables new capabilities of the humanoid robot. In this paper, a new gait for humanoid robots is presented that enables humanoid motion in tight spaces that are vertically constrained. The gait is laterally symmetric and utilizes a cooperative motion of both the hands and feet. The addition of this gait expands the set of environments that can be handled by the humanoid robot. The efficacy of the proposed gait is demonstrated experimentally on a NAO humanoid robot.

Original language	English (US)
Title of host publication	IROS Hamburg 2015 - Conference Digest
Subtitle of host publication	IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5930-5935
Number of pages	6
ISBN (Electronic)	9781479999941
DOIs	https://doi.org/10.1109/IROS.2015.7354220
State	Published - Dec 11 2015
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany Duration: Sep 28 2015 → Oct 2 2015

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
Volume	2015-December
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Other

Other	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Country/Territory	Germany
City	Hamburg
Period	9/28/15 → 10/2/15

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2015.7354220

Cite this

Brooks, G., Krishnamurthy, P., & Khorrami, F. (2015). Low-profile crawling for humanoid motion in tight spaces. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 5930-5935). Article 7354220 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7354220

Low-profile crawling for humanoid motion in tight spaces. / Brooks, G.; Krishnamurthy, P.; Khorrami, F.
IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2015. p. 5930-5935 7354220 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Brooks, G, Krishnamurthy, P & Khorrami, F 2015, Low-profile crawling for humanoid motion in tight spaces. in IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems., 7354220, IEEE International Conference on Intelligent Robots and Systems, vol. 2015-December, Institute of Electrical and Electronics Engineers Inc., pp. 5930-5935, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, 9/28/15. https://doi.org/10.1109/IROS.2015.7354220

Brooks G, Krishnamurthy P, Khorrami F. Low-profile crawling for humanoid motion in tight spaces. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2015. p. 5930-5935. 7354220. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2015.7354220

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Low-profile crawling for humanoid motion in tight spaces

Abstract

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ASJC Scopus subject areas

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