A8-[HumanoidSpace] - Overview

Humanoid Robot Navigation in Complex Indoor Environments


This project aims at developing techniques for biped humanoid robots navigating in complex, multi-level and multi-room indoor environments that contain articulated and movable objects. Because of their body layout, humanoid robots are well-suited to work in these human environments. However, they sensors and motion execution exhibit large uncertainties. We develop probabilistic methods for object modeling as well as for manipulation and navigation that can deal with these large uncertainties. We furthermore employ high-level planning system to compute a sequence of actions for the robot so as to achieve navigation goals such as fetching an object from another room on a different level, or moving aside an obstacle.