Locomotion among dynamic obstacles for the honda ASIMO

Abstract

We have equipped a Honda ASIMO humanoid with the ability to navigate autonomously in obstacle-filled environments. In addition to finding its way through known, fixed obstacle configurations, the planning system can reason about the future state of the world to locomote through challenging environments when the obstacle motions can be inferred from observation. This video presents work using a vision system to predict the velocities of objects in the scene, allowing ASIMO to safely navigate autonomously through a dynamic environment. Neither obstacle positions nor velocities are known at the start of the trial, but are estimated online as the robot walks. The planner constantly adjusts the footstep path with the latest estimates of ASIMO's position and the obstacle trajectories, allowing the robot to successfully circumnavigate the moving obstacles.