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JRM Vol.15 No.2 pp. 200-207
doi: 10.20965/jrm.2003.p0200
(2003)

Paper:

Humanoid Arm Motion Planning Using Stereo Vision and RRT Search

Satoshi Kagami*,**, James J. Kuffner***,*, Koichi Nishiwaki****, Kei Okada****, Masayuki Inaba****, and Hirochika Inoue****

*Digital Human Lab., National Institute of Advanced Science and Technology, 2-41-6, Oumi, Kouto-ku, Tokyo, 135-0064 Japan

**CREST Program, JST (Japan Science and Technology Corporation)

***School of Computer Science, Carnegie Mellon University 5000, Forbes Ave., Pittsburgh, PA 15213-3891 USA

****Dept. of Mechano-Informatics, School of Information Science and Technology, Univ. of Tokyo 7-3-1, Hongo, Bunkyo-ku, Tokyo, 113-8656 Japan

Received:
November 5, 2002
Accepted:
January 7, 2003
Published:
April 20, 2003
Keywords:
humanoid robot, motion planning, 3D vision
Abstract

This paper describes an experimental stereo vision based motion planning system for humanoid robots. The goal is to automatically generate arm trajectories that avoid obstacles in unknown environments from high-level task commands. Our system consists of three components: 1) environment sensing using stereo vision with disparity map generation and online consistency checking, 2) probabilistic mesh modeling in order to accumulate continuous vision input, and 3) motion planning for the robot arm using RRTs (Rapidly exploring Random Trees). We demonstrate results from experiments using an implementation designed for the humanoid robot H7.

Cite this article as:
Satoshi Kagami, James J. Kuffner, Koichi Nishiwaki, Kei Okada, Masayuki Inaba, and Hirochika Inoue, “Humanoid Arm Motion Planning Using Stereo Vision and RRT Search,” J. Robot. Mechatron., Vol.15, No.2, pp. 200-207, 2003.
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Last updated on Oct. 15, 2021