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

页码：85 / 94

页数：10

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