Vision guided biped walking - trajectories and communication

被引：0
|
作者：
Gerecke, M [1 ]
Albert, A [1 ]
Gerth, W [1 ]
机构：
[1] Leibniz Univ Hannover, IRT, Inst Automat Control, D-30167 Hannover, Germany
来源：
CLIMBING AND WALKING ROBOTS | 2002年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents considerations for vision guided walking of a bipedal robot in a structured but a priori unknown environment. Visual information from camera images is interpreted by means of scene analysis and provides a model of the environmental structure. Based on this information a suitable step-sequence is calculated and executed by the robot. The work has been carried out as a cooperation between the LSR of the TU Munchen (stereo-camera system and guidance) and the IRT of the Universitat Hannover (robot BARt-UH). This article covers the work on the 'robot's side' and describes the communication between the camera system and the robot. Furthermore, a method for smooth transition of the leg trajectories is presented.
引用
收藏
页码：155 / 162
页数：8
相关论文
共 50 条
  • [31] Impactless biped walking on a slope
    Lulu Gong
    Werner Schiehlen
    Theoretical & Applied Mechanics Letters, 2013, 3 (01) : 25 - 31
  • [32] Perception errors in vision guided walking: Analysis, modeling, and filtering
    Lorch, O
    Seara, JF
    Strobl, KH
    Hanebeck, UD
    Schmidt, G
    2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2002, : 2048 - 2053
  • [33] Research Humanoid Robot Walking Based on Vision-Guided
    Zhang, Zhili
    Song, Yingying
    Zhang, Weidong
    Yin, Shuo
    FRONTIERS OF MANUFACTURING AND DESIGN SCIENCE IV, PTS 1-5, 2014, 496-500 : 1426 - +
  • [34] Experiments in vision-guided robot walking in a structured scenario
    Cupec, R
    Schmidt, G
    Lorch, O
    ISIE 2005: PROCEEDINGS OF THE IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS 2005, VOLS 1- 4, 2005, : 1581 - 1586
  • [35] Walking Gait of a Biped with a Wearable Walking Assist Device
    Aoustin, Yannick
    INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, 2015, 12 (04)
  • [36] A realtime pattern generator for biped walking
    Kajita, S
    Kanehiro, F
    Kaneko, K
    Fujiwara, K
    Yokoi, K
    Hirukawa, H
    2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2002, : 31 - 37
  • [37] ADAPTIVE CONTROL OF A BIPED WALKING MODEL
    Olensek, Andrej
    Matjacic, Zlatko
    MOBILE ROBOTICS-SOLUTIONS AND CHALLENGES, 2010, : 877 - 882
  • [38] Trajectory planning for the walking biped "Lucy"
    Vermeulen, J
    Lefeber, D
    Verrelst, B
    Vanderborght, B
    CLIMBING AND WALKING ROBOTS, 2005, : 665 - 676
  • [39] Energy analysis during biped walking
    Silva, Filipe M.
    Machado, J.A.Tenreiro
    Proceedings - IEEE International Conference on Robotics and Automation, 1999, 1 : 59 - 64
  • [40] Walking and control of autonomous biped robot
    Lee, JW
    Lee, KH
    Park, IW
    Oh, JH
    MOBILE ROBOT TECHNOLOGY, PROCEEDINGS, 2001, : 173 - 177
12345