Path Planned Footprints CommandsDisplay Planned Footprints Walking Pattern Generation Sensor Feedback Trajectories of the Torso & Feet

The present paper describes the integration of laser-based perception, footstep planning, and walking control of a humanoid robot for navigation over previously unknown rough terrain. A perception system that obtains the shape of the surrounding environment to an accuracy of a few centimeters is realized based on input obtained using a scanning laser range sensor. A footstep planner decides the sequence of stepping positions using the obtained terrain shape. A walking controller that can cope with a few centimeters of error in terrain shape measurement is achieved by combining the generation of a 40-ms cycle online walking pattern and a ground reaction force controller with sensor feedback. An operational interface was developed to send commands to the robot. A mixed-reality display was adopted to realize an intuitive interface. The navigation system was implemented on the HRP-2, a full-size humanoid robot. The performance of the proposed system for navigation over unknown rough terrain and the accuracy of the terrain shape measurement were investigated through several experiments.