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Authors: Walaa Gouda 1 and Walid Gomaa 2

Affiliations: 1 Egypt-Japan University for Science and Technology (E-JUST), Egypt ; 2 Egypt-Japan University for Science and Technology (E-JUST) and Alexandria University, Egypt

ISBN: 978-989-758-040-6

ISSN: 2184-2809

Keyword(s): Whole Body Motion, Humanoid Robot, Complex Dynamic Motions , Robot Kinematics , Recognized Object.

Related Ontology Subjects/Areas/Topics: Humanoid Robots ; Informatics in Control, Automation and Robotics ; Robotics and Automation

Abstract: In this paper, we introduce an integrated approach that enables a humanoid robot to plan and robustly execute whole body motions including stepping over, climbing up or down obstacles as well as climbing up straight staircase using only onboard sensing. Reliable and accurate sequence of motions for humanoid robots operating in complex indoor environments is a prerequisite for robots to fulfill high level tasks. The design of complex dynamic motions is achievable only through the use of robot kinematics. Based on the recognized object from the robot database, using the robot camera, a sequence of actions for avoiding that object is executed. As demonstrated in simulation as well as real world experiments with NAO humanoid, NAO can reliably execute robustly whole body movements in cluttered, multi-level environments containing objects of various shapes and sizes.

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Paper citation in several formats:
Gouda, W. and Gomaa, W. (2014). Complex Motion Planning for NAO Humanoid Robot.In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-040-6, ISSN 2184-2809, pages 402-409. DOI: 10.5220/0005051904020409

@conference{icinco14,
author={Walaa Gouda. and Walid Gomaa.},
title={Complex Motion Planning for NAO Humanoid Robot},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2014},
pages={402-409},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005051904020409},
isbn={978-989-758-040-6},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Complex Motion Planning for NAO Humanoid Robot
SN - 978-989-758-040-6
AU - Gouda, W.
AU - Gomaa, W.
PY - 2014
SP - 402
EP - 409
DO - 10.5220/0005051904020409

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