Stair Recognition with Laser Range Scanning by Limb Mechanism Robot "ASTERISK"

被引：15
|
作者：
Theeravithayangkura, Chayooth [1 ]
Takubo, Tomohito [1 ]
Mae, Yasushi [1 ]
Arai, Tatsuo [1 ]
机构：
[1] Osaka Univ, Dept Syst Innovat, Grad Sch Engn Sci, Osaka 5608531, Japan
来源：
2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4 | 2009年
关键词：
Laser range finder; Stair climbing robot; Limb mechanism robot; Recognition;
D O I：
10.1109/ROBIO.2009.4913121
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
A stair recognition with laser range scanning for continuous stair climbing by limb mechanism "ASTERISK" is proposed. In this research, laser range scanning is divided into rough scan for fast scanning, and precise scan for range scanning. We use 2D laser range finder attached with motor for 3D laser range scanning. As a result of the experiment, the robot could recognize a stair position and posture even it is located at the physical limitation of laser range finder which is 4 m and detect the actual stair up to 6 out of 10 steps which the height is about 5 times of "ASTERISK" normal posture standing height.
引用
收藏
页码：915 / 920
页数：6
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