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This paper proposes a method for a humanoid robot to generate 3D model of the environment using a stereo vision, find a movable space using it and plan feasible locomotion online. The model is generated by an accumulation of 3D grid maps which are made from the range data of the field of view obtained by a correlation based stereo vision. The locomotion is planned by an online whole body pattern generator which can modify robot's waist height, an upper body posture and so on according to the size of the movable space.

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A b s t r a c t A new t y p e o f b i l a t e r a l s e r v o c o n t r o l l e r f o r a master-slave robot system (MSRS) is proposed through t h e s t a b i l i t y a n a l y s i s b a s e d on the Liapunov theory. T h i s c o n t r o l l e r i s easily implementable and a s s u r e s t h e a s y m p t o t i c s t a b i l i t y i n a s e n s e t h a t j u s t a f t e r t h e human operator leaves hold of t h e j o y s t i c k , t h e p o s i t i p n o f t h e t i p o f s l a v e arm asymptotically a p p r o a c h e s t h e p o s i t i o n o f t h e j o y s t i c k of master arm and eventually coincides with i t , even i f each of master and slave arms h a s a d i f f e r e n t s t r u c t u r e and complex nonlinear dynamics. It possesses some remarkable functions indispensable for advanced t e l e o p e r a t i o n s y s t e m s and c o n s i s t s o f t h r e e c o n t r o l modes, viz. manual operation mode, force feedback c o n t r o l mode, and hybrid control mode, each of which i s s e l e c t e d t o u s e a c c o r d i n g t o t h e s u b s t a n c e of t a s k s . The performance of teleoperation under each c o n t r o l mode i s comparatively examined by r e f e r r i n g t o e x p e r i m e n t a l r e s u l t s . I n t r o d u c t i o nRemote manipulation technology has been increasi n g l y r e q u i r e d i n s u c h u n u s u a l c i r c u m s t a n c e s a s i n space, deep sea, n u c l e a r power p l a n t s , e t c . . One of t h e well-known forms of remote manipulation i s t h e master-slave robot systems (MSRS) which possess master arms t o a s s o c i a t e human o p e r a t o r s w i t h s l a v e arm robots. For enhancing the performance of teleoperation of MSRS, i t is e f f e c t i v e t o f e e d b a c k t h e state of motion of t h e s l a v e arm t o t h e master's s i d e , and thereby a " b i l a t e r a l c o n t r o l " t e c h n i q u e was d e v e l o p e d t o r e a l i z e t h a t k i n d of feedback. This technique i s commonly a p p l i e d t o MSRS i n many f i e l d s ' . I n p r a c t i c e i t i s e a s y t o c o n s t r u c t " b i l a t e r a l c o n t r o l " s y s t e m s by c l o s i n g l o c a l s e r v o loops between each joint of the master arm and i t s c o r r e s p o n d i n g j o i n t o f t h e s l a v e arm i f t h e master arm h a s t h e same s t r u c t u r e as t h e s l a v e one. I n case of using a s t r u c t u r a l l y d i f f e r e n t p a i r of master and s l a v e arms which surpasses in availa b i l i t y o f t h e MSRS and v e r s a t i l i t y of t h e master arm, i t becomes troublesome to perform the kinemati c t r a n s f o r m a t i o n i n r e a l time i n o r d e r t o r e a l i z e t h e c o n v e n t i o n a l " b i l a t e r a l c o n t r o l " . I n t h e meantime, many a u t h o r s i n d i c a t e t h a t t h e c o n v e n t i o n a l " b i l a t e r a l c o n t r o l " i s i n s u f f i c i e n t f o r enhancement of the performance'of MSRS. Wilt e t a1.2 have shown t h a t a MSRS with force feedback, which makes t h e hum...