Experiments in vision-guided biped walking

Lorch, Oliver; Albert, Amos; Denk, Joachim; Gerecke, Marc; Cupec, Robert; Seara, J.F.; Gerth, Wilfried; Schmidt, G.

doi:10.1109/irds.2002.1041642

Cited by 41 publications

(19 citation statements)

References 7 publications

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“…where , is of the obstacle the gradient he (10) . We (11) red in (12) height eight (13) at are path .…”

Section: Workpace Model and Map Generationmentioning

confidence: 99%

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Hierarchical Fuzzy Motion Planning for Humanoid Robots Using Locomotion Primitives and a Global Navigation Path

Kim

2010

International Journal of Fuzzy Logic and Intelligent Systems

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This paper presents a hierarchical fuzzy motion planner for humanoid robots in 3D uneven environments. First, we define both motion primitives and locomotion primitives of humanoid robots. A high-level planner finds a global path from a global navigation map that is generated based on a combination of 2.5 dimensional maps of the workspace. We use a passage map, an obstacle map and a gradient map of obstacles to distinguish obstacles. A mid-level planner creates subgoals that help the robot efficiently cope with various obstacles using only a small set of locomotion primitives that are useful for stable navigation of the robot. We use a local obstacle map to find the subgoals along the global path. A low-level planner searches for an optimal sequence of locomotion primitives between subgoals by using fuzzy motion planning. We verify our approach on a virtual humanoid robot in a simulated environment. Simulation results show a reduction in planning time and the feasibility of the proposed method.

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“…where , is of the obstacle the gradient he (10) . We (11) red in (12) height eight (13) at are path .…”

Section: Workpace Model and Map Generationmentioning

confidence: 99%

“…Due to this high degree of actuation, the humanoid robots can have a wide range of motions. Humanoid robots can walk, turn, step on small objects [3][4][5], climb stairs [6][7][8][9][10][11], climb ladder [5], climb ramp [11], step over obstacle [11] [12], and crawl through narrow passages [13] [14].…”

Section: Introductionmentioning

confidence: 99%

Hierarchical Fuzzy Motion Planning for Humanoid Robots Using Locomotion Primitives and a Global Navigation Path

Kim

2010

International Journal of Fuzzy Logic and Intelligent Systems

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“…A motion planner enables high performance on humanoid robot behaviors [10], [11]. However the most of them deal with navigation tasks and a few tackled manipulation behaviors [12], although they are required in daily-life tasks frequently.…”

Section: Tool Manipulation Motion Planner Using Manipulation Knowmentioning

confidence: 99%

Vision based behavior verification system of humanoid robot for daily environment tasks

Okada

Kojima

Sagawa

et al. 2006

2006 6th IEEE-RAS International Conference on Humanoid Robots

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Abstract-This paper describes integrated/intelligent humanoid robot system for daily-life environment tasks. We have realized complex behaviors of a humanoid robot in dailylife environment based on motion planner technique using an environment and manipulation knowledge. However in order to adapt to unknown or dynamic situations, sensor based behavior variation is essentially important. In this paper, we present a design and implementation of sensor based behavior verification system using an environment and manipulation knowledge, which is also used in manipulation motion planner. We also present software architecture that allows us to write a single stream code to perform complex concurrent humanoid motions. By using this architecture, sensor based verification functions are easily integrated in motion generation functions. Finally, we demonstrated a water-pouring task and a dishwashing task of the life-sized humanoid robot HRP2-JSK in a real environment while verifying its own motion.

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“…Its capability of measuring distances is used, and both the reconstruction formulation and the error representation have been discussed in detail in [4]. The biped robot model considered was a simplified general model inspired by real walking machines [5]. The robot model comprises kinematic transformations between different reference coordinate frames.…”

Section: Coupled Hybrid Ekf For Information Managementmentioning

confidence: 99%

Path-dependent gaze control for obstacle avoidance in vision guided humanoid walking

Seara

Strobl

Schmidt

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

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Abstract-This article presents a novel gaze control strategy for obstacle avoidance in the context of vision guided humanoid walking. The generic strategy is based on the maximization of the predicted visual information. For information/uncertainty management a new hybrid formulation of an Extended Kalman Filter is employed. The performance resulting from this view direction control scheme shows the dependence of the intelligent gazing behavior on the preplanned local path.

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Experiments in vision-guided biped walking

Cited by 41 publications

References 7 publications

Hierarchical Fuzzy Motion Planning for Humanoid Robots Using Locomotion Primitives and a Global Navigation Path

Hierarchical Fuzzy Motion Planning for Humanoid Robots Using Locomotion Primitives and a Global Navigation Path

Vision based behavior verification system of humanoid robot for daily environment tasks

Path-dependent gaze control for obstacle avoidance in vision guided humanoid walking

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