NAO Humanoid Robot Obstacle Avoidance Using Monocular Camera

In this paper, we present an experimental approach that allows a humanoid robot to
effectively plan and execute whole body motions, like climbing obstacles and straight
stairs up or down, besides jumping over obstacles using only on-board sensing. Re-
liable and accurate motion sequence for humanoid employed in complex indoor en-
vironments is a necessity for high-level robotics tasks. Using the robot’s own kine-
matics will construct complex dynamic motions. A series of actions to prevent the
object from being performed on the basis of the identified object from the database
of the robot, obtained using the robot’s own monocular camera. As shown in real
world experiments beside simulation using NAO H25 humanoid, the robot can ef-
fectively perform whole body movements in cluttered, multilevel environments con-
taining items of various shapes and dimensions.