Door traversal is generally a trivial task for human
beings but particularly challenging for humanoid robots. We demonstrate door traversal approach for a full-sized humanoid robot to traverse through a door in an outdoor semi-structured environment as specified by the requirements of the DARPA
Robotics Challenge. Door traversal can be broken down into four sub-tasks; door detection, walk to the door, door opening, and walk through the door. These topics are covered in detail along with the approaches used for perception and motion planning. Results from lab tests and the DRC Finals are shown.