Online 3D vision, motion planning and bipedal locomotion control coupling system of humanoid robot: H7

Satoshi Kagami, Koichi Nishiwaki, James J. Kuffner Jr., Yasuo Kuniyoshi, Masayuki Inaba, Hirochika Inoue

Abstract: This paper describes the design of an integrated system for humanoid robotics that consists of three key components, 3D vision, motion planning and bipedal control. Layered system design is adopted to achieve concurrency as well as small latency. Implementation using our humanoid type robot H7 and experiments with this architecture are described. The H7 is expected to be a common test-bed in experiments and discussion for various aspects of intelligent humanoid robotics.