Online humanoid walking control and 3D vision-based locomotion

被引：0
|
作者：
Nishiwaki, K [1 ]
Kagami, S [1 ]
Kuffner, JJ [1 ]
Okada, K [1 ]
Kuniyoshi, Y [1 ]
Inaba, M [1 ]
Inoue, H [1 ]
机构：
[1] Univ Tokyo, Dept Mechano Informat, Bunkyo Ku, Tokyo 1138656, Japan
来源：
EXPERIMENTAL ROBOTICS VIII | 2003年 / 5卷
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：
Autonomous locomotion is one of the most important capabilities for humanoid robots operating within human environments. We present a walking control system that follows a given desired motion online using a layered control architecture, and implemented as a basic system of autonomous walking. A moving goal tracking function and reactive obstacle avoidance functions are implemented together with a stereo vision system, forming higher layer components of an autonomous locomotion system. Experiments using these layers are shown as basic examples of autonomous locomotion control.
引用
收藏
页码：85 / 94
页数：10
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