Practical VisionBased Walking Navigation for the Humanoid Robot NAO in the Mazelike Environment The motion features that accompanied by the alternate walking of the humanoid robot, which include body swing, foot slip, and fear of collision, are important factor limiting the indoor applications. In this manuscript, the humanoid robot NAO is taken as the platform, and the reliable pass through the mazexe2x88x92like indoor region is set as specific goal. Firstly, the specific intersection scene types are summarized, and the walking strategies for different intersection scenarios are discussed. Then, the general algorithm of path correction is developed. And the long straight walking, yaw correction, and Lxe2x88x92shape intersection steering experiments are carried out. Furthermore, the corresponding optimization methods are discussed. The proposed strategy realizes a comprehensive technical framework for NAO to perform visual perception and stable walking in an unknown environment, which provide practical reference for efficient indoor navigation.

Humanoid Robot Next Best View Planning Under Occlusions Using Body Movement Primitives This work presents an approach for humanoid Next Best View (NBV) planning that exploits full body motions to observe objects occluded by obstacles. The task is to explore a given region of interest in an initially unknown environment. The robot is equipped with a depth sensor, and it can perform both 2D and 3D mapping. As main contribution with respect to previous work, the proposed method does not rely on simple motions of the head and it was evaluated in real environments. The robot is guided by two behaviors: a target behavior that aims at observing the region of interest by exploiting body movements primitives, and an exploration behavior that aims at observing other unknown areas. Experiments show that the humanoid is able to peer around obstacles to reach a favourable point of view. Moreover, the proposed approach results in a more complete reconstruction of objects than a conventional algorithm that only changes the orientation of the head.