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
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