11th IEEE-RAS International Conference on Humanoid Robots

Workshop on humanoid service robot navigation in crowded and dynamic environments

Full day workshop

October 26th, 2011 Bled, Slovenia

General Scope

General Scope

Humanoid service robotics is a challenging robotics application where the frontier of science meets that of technology. Safe navigation is a core skill these robots must meet in order to be able to deploy these technologies to the mass market. Recent advances in humanoid robot navigation, either wheeled or legged, have shown successful navigation in moderately complex environments. However, safe, reliable, long-term, robust navigation is still an open challenge to robotics scientists.


This workshop will discuss innovative solutions and show state of the art results that address the problem of humanoid robot navigation in dynamic and crowded human-like environments such as, office spaces, homes, shopping malls, etc. Some of the difficulties in solving this problem include safe obstacle avoidance in 3D, robust localization in dynamic environments, people-aware motion planning, and situation awareness; all of them guaranteeing systems integrity as well as human safety.

PAL Robotics Workshop

Main Topics

  • Localization in real environments (highly dynamic and crowded)
  • Gait and step planning
  • Full body motion planning in crowded environments
  • 3D collision avoidance
  • Human-aware navigation
  • Human-robot emphatic behaviours
  • Semantic navigation
  • Environment perception


Chairman morning program: Juan Andrade-Cetto
Chairman afternoon program: Luca Marchionni

09:00 Abderrahmane Kheddar Considering Floating Contact and Unmodeled Effects for Multi-Contact Motion Generation
09:30 Olivier Stasse Sound and Fast Footstep Planning for Humanoid Robots
10:00 Kenji Hashimoto Biped Walking Technology in Dynamic Environments: FFT-based Online Walking Pattern Generation and Walking Stabilization against External Disturbances
10:30 Coffee Break
11:00 Nikolaos Tsagarakis “COMAN” A Highly Adaptable Humanoid Platform with Intrinsic Elasticity
11:30 Ricardo Tellez
Current Challenges in Humanoid Navigation in Dynamic Environments
12:00 Maren Bennewitz Integrated Perception and Navigation in Complex Indoor Environments
12:30 Lunch
13:30 Luca Marchionni REEM will perform a demonstration of its navigation abilities in crowded environments: see video



PAL RObotics Luca Marchionni
Pal Robotics,
+34 934 145 347

Ricardo Téllez
Pal Robotics,
+34 934 145 347

Institut de Robòtica i Informàtica Industria Juan Andrade-Cetto
Institut de Robotica i Informatica Industrial
+34 934010775
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