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The popularity of mobile robots has been steadily growing, with these robotsbeing increasingly utilized to execute tasks previously completed by humanworkers. For bipedal robots to see this same success, robust autonomousnavigation systems need to be developed that can execute in real-time andrespond to dynamic environments. These systems can be divided into threestages: perception, planning, and control. A holistic navigation framework forbipedal robots must successfully integrate all three components of theautonomous navigation problem to enable robust real-world navigation. In thispaper, we present a real-time navigation framework for bipedal robots indynamic environments. The proposed system addresses all components of thenavigation problem: We introduce a depth-based perception system for obstacledetection, mapping, and localization. A two-stage planner is developed togenerate collision-free trajectories robust to unknown and dynamicenvironments. And execute trajectories on the Digit bipedal robot's walkinggait controller. The navigation framework is validated through a series ofsimulation and hardware experiments that contain unknown environments anddynamic obstacles.

Real-Time Navigation for Bipedal Robots in Dynamic Environments