Humanoid Robot Localization in Complex Indoor Environments
We developed a localization method for humanoid robots navigating in
arbitrary complex indoor environments using only onboard
sensing. Reliable and accurate localization for humanoid robots
operating in such environments is a challenging task. First,
humanoids typically execute motion commands rather inaccurately and
odometry can be estimated only very roughly. Second, the
observations of the small and lightweight sensors of most humanoids
are seriously affected by noise. Third, since most humanoids walk
with a swaying motion and can freely move in the environment, e.g.,
they are not forced to walk on flat ground only, a 6D torso pose has
to be estimated. We apply Monte Carlo localization to globally
determine and track a humanoid's 6D pose in a 3D world model, which
may contain multiple levels connected by staircases. To achieve a
robust localization while walking and climbing stairs, we integrate
2D laser range measurements as well as attitude data and information
from the joint encoders. Using our approach, our humanoid robot is able to
globally localize itself and accurately track its 6D pose over time.
Humanoid Robot Localization in Complex Indoor Environments.
A. Hornung, Kai M. Wurm, and M. Bennewitz.
In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010.
This video below shows our humanoid robot navigating in a complex indoor environment while localizing itself using our technique. We present experiments carried out in the Webots 6 robot simulator as well as using our Nao humanoid equipped with a laser head. This robot was developeed by Aldebaran Robotics in cooperation with our lab.