A Floor and Obstacle Height Map for 3D Navigation of a Humanoid Robot

Humanoid robots with artificial intelligence is very captivating field for people, since the robots are introduced. For humanoid robots we can introduce new ideas without any limitations and constraints but in reality there are limitations to implement them. In this paper we are discussing different humanoid robots with their practical applications. Based on their implementation structure detailed comparison of their characteristics is performed and on this bases some limitations and future work has been discussed.

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“…Some of humanoid robots have the ability that they make the view of their environments (e.g. Gutmann et al (2005) used Sony Qrio).…”

Section: Learning Behaviourmentioning

confidence: 99%

A review on humanoid robots

Mahum¹,

Butt²,

Ayyub³

et al. 2017

Int. j. adv. appl. sci

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“…Fong uses 2.5-dimensional grids to create the terrain [12], Gutmann also uses 2.5 dimensional grids to represent the terrain containing obstacles [13].…”

Section: Mapmentioning

confidence: 99%

Improved Path Planning Algorithm on the Rugged Road

et al. 2016

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Original scientific paperThe path planning problem is an important problem in the research area of robot, games and group animation. This paper shows a 2.5-dimensional terrain grid which can reduce the amount of computation. By applying the fuzzy logic theory, the terrain trafficability of the rugged road can be evaluated based on different gradient, roughness, elevation difference; the trafficability factor can be achieved and applied to the heuristic function. The improved algorithm can solve the symmetry problem of path planning on uneven surfaces, reduce the search space. Key words: Path planning, Fuzzy Logic, Trafficability FactorUnaprije eni algoritam za praćenje putanje na neravnoj cesti. Problem planiranja putanje je važan problem u istraživačkom području robotike, igara i grupne animacije. U ovom radu teren je predstavljen 2.5-dimenzionalnom mrežom što može smanjiti vrijeme računanja. Korištenjem teorije neizrazite logike prohodnost neravne ceste može se procijeniti na osnovu razlike gradijenata, nagiba i grbavosti, te se može odrediti faktor prohodnosti koji je primjenjiv na heurističku funkciju. Unaprije eni algoritam može riješiti problem simetrije kod planiranja putanje na neravnim površinama i smanjiti prostor pretraživanja.Ključne riječi: planiranje putanje, neizrazita logika, faktor prohodnosti

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“…As our experiments demonstrate, also the torso's roll and pitch angles are relevant since they improve localization accuracy in the 3D model. So far, only noisy foot step odometry has been used to locally track a humanoid's pose in a 3D model (e.g., [4]). The contribution of this paper is a robust localization system for humanoid robots navigating in complex, multi-level indoor environments.…”

Section: Introductionmentioning

confidence: 99%

Humanoid robot localization in complex indoor environments

Hornung

Wurm

Bennewitz

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

114

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Abstract-In this paper, we present a localization method for humanoid robots navigating in arbitrary complex indoor environments using only onboard sensing. Reliable and accurate localization for humanoid robots operating in such environments is a challenging task. First, humanoids typically execute motion commands rather inaccurately and odometry can be estimated only very roughly. Second, the observations of the small and lightweight sensors of most humanoids are seriously affected by noise. Third, since most humanoids walk with a swaying motion and can freely move in the environment, e.g., they are not forced to walk on flat ground only, a 6D torso pose has to be estimated. We apply Monte Carlo localization to globally determine and track a humanoid's 6D pose in a 3D world model, which may contain multiple levels connected by staircases. To achieve a robust localization while walking and climbing stairs, we integrate 2D laser range measurements as well as attitude data and information from the joint encoders. We present simulated as well as real-world experiments with our humanoid and thoroughly evaluate our approach. As the experiments illustrate, the robot is able to globally localize itself and accurately track its 6D pose over time.

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A Floor and Obstacle Height Map for 3D Navigation of a Humanoid Robot

Cited by 66 publications

References 12 publications

A review on humanoid robots

A review on humanoid robots

Improved Path Planning Algorithm on the Rugged Road

Humanoid robot localization in complex indoor environments

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