DaRWiN: Disturbance-robust Whole-body Navigation Planning for Shipboard Firefighting Humanoid Robots
Abstract
This project will focus on developing motion planning algorithms for humanoid robot firefighters that allow them to navigate complex environments and respond to disturbances. A shipboard firefighting robot will require the ability to autonomously traverse environments with complex geometry and respond to significant disturbance forces. For instance, the robot will need to pass through narrow corridors, open doors, climb and descend ladders and stairs, and navigate through clutter. The robot must also be able to operate despite significant disturbances arising from ocean waves. While compliant control at the low-level will allow robustness to small variations in geometry and small disturbances, accommodating complex geometry and large disturbances requires a unified approach to whole-body motion planning, navigation, and disturbance mitigation.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Aug 12, 2016
- Source ID
- N000141512138
Entities
People
- Dmitry Berenson
Organizations
- Office of Naval Research
- United States Navy
- Worcester Polytechnic Institute