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A Footstep-plan-based Floor Sensing Method Using Stereo Images for Stable Slope Walking of Biped Robot

Minami Asatani, Shigeki Sugimoto, Masatoshi Okutomi
2010 Journal of the Robotics Society of Japan  
In this paper, we propose a realtime floor sensing method using stereo cameras mounted on a biped robot.  ...  For obtaining the parameter vector set, we first determine multiple regions of interest (ROI) in a reference image by using footstep positions up to several steps, scheduled by a current footstep plan.  ...  Tani: "Adaptive gait control of a biped robot based on realtime sensing of the ground profile," IEEE International Conference on Robotics and Automation, vol.1, pp.22-28, 1996. [ 8 ] J. Kuffner, S.  ... 
doi:10.7210/jrsj.28.112 fatcat:v6xi4gw45zhejl7kh4xiiuehvu

Direct floor height measurement for biped walking robot by fisheye stereo

Nobuyuki Kita
2011 2011 11th IEEE-RAS International Conference on Humanoid Robots  
A method to measure the floor height around the current foothold by using fisheye stereo directed forward is proposed.  ...  The pose of fisheye stereo is first estimated from the input image, and the input images are partially rectified so that the floor images are projected onto the base floor which is the flat plane including  ...  There are lots of studies which exploit the knowledge about floor surface to make footsteps planning or biped motion control.  ... 
doi:10.1109/humanoids.2011.6100893 dblp:conf/humanoids/Kita11 fatcat:mkra65itdfawtb4egdjiqx2bqe

Stride Over Step by Four Wheeled and Four Legged Flexible Personal Robot-Step Detection by Tri-camera Vision and Hybrid Motion by Wheels and Legs-

Noriho Koyachi, Kenichi Maruyama, Yoshihiro Kawai, Fumiaki Tomita
2009 Journal of the Robotics Society of Japan  
The correlation-based stereo recognition method and the segment-based stereo recognition method are integrated to recognize the step and the floor and to divide them in order to make a smooth motion.  ...  It has the tri-camera stereo vision system to recognize the mobile environments. This paper describes on the motion control to stride over a small step on a flat floor.  ...  Okutomi: "A Footstep-Plan-Based Floor Sensing Method Using Stereo Images for Biped Robot Control," Proc. 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2007), pp. 907-912  ... 
doi:10.7210/jrsj.27.825 fatcat:jeoggfl5vjhtlno4u67ej637qi

The experimental humanoid robot H7: a research platform for autonomous behaviour

K. Nishiwaki, J. Kuffner, S. Kagami, M. Inaba, H. Inoue
2007 Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences  
H7 was designed to be a humansized robot capable of operating autonomously in indoor environments designed for humans.  ...  We describe the overall design goals and methodology, along with a summary of its online walking capabilities, autonomous vision-based behaviours and automatic motion planning.  ...  (i) Biped navigation model The biped model comes with a pre-determined set of feasible footstep locations for each foot.  ... 
doi:10.1098/rsta.2006.1921 pmid:17148051 fatcat:pic63qcbfzae7nindetqjyrgca

Continuous humanoid locomotion over uneven terrain using stereo fusion

Maurice F. Fallon, Pat Marion, Robin Deits, Thomas Whelan, Matthew Antone, John McDonald, Russ Tedrake
2015 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)  
In this paper we present the perception and planning algorithms which have allowed a humanoid robot to use only passive stereo imagery (as opposed to actuating a laser range sensor) to safely plan footsteps  ...  The perception system continuously integrates stereo imagery to build a consistent 3D model of the terrain which is then used by our footstep planner which reasons about obstacle avoidance, kinematic reachability  ...  Asatani et al. demonstrated the use of stereo vision to inform footstep planning for a biped robot [3] .  ... 
doi:10.1109/humanoids.2015.7363465 dblp:conf/humanoids/FallonMDWAMT15 fatcat:raueigmwavhdjn3hqjwsalibti

Material recognition CNNs and hierarchical planning for biped robot locomotion on slippery terrain

Martim Brandao, Yukitoshi Minami Shiguematsu, Kenji Hashimoto, Atsuo Takanishi
2016 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)  
We then robustly integrate the friction predictions into a hierarchical (footstep and full-body) planning method using chance constraints, and optimize the same trajectory costs at both levels of the planning  ...  In this paper we tackle the problem of visually predicting surface friction for environments with diverse surfaces, and integrating this knowledge into biped robot locomotion planning.  ...  The obtained trajectory is finally interpolated and locally adapted for dynamic stability using a ZMP-based method.  ... 
doi:10.1109/humanoids.2016.7803258 dblp:conf/humanoids/BrandaoSHT16 fatcat:eobkrchjkfdrhjbyqsk5njetym

Humanoids [chapter]

Paul Fitzpatrick, Kensuke Harada, Charles C. Kemp, Yoshio Matsumoto, Kazuhito Yokoi, Eiichi Yoshida
2016 Springer Handbook of Robotics  
Disparity images generated by stereo vi-Part G | 67.4 Humanoids require a great deal of computation due to the need for sophisticated sensing and control.  ...  Using Automated Motion Planning The previous two methods are based on mainly joint angles from a motion capture system or a GUI.  ... 
doi:10.1007/978-3-319-32552-1_67 fatcat:xgkavbgzmbae7mo4wjdrmivkdu

Curved patch mapping and trackingfor irregular terrain modeling: Application to bipedal robot foot placement

Dimitrios Kanoulas, Nikos G. Tsagarakis, Marsette Vona
2019 Robotics and Autonomous Systems  
This paper introduces a new framework to model and map local rough terrain surfaces, for tasks such as bipedal robot foot placement.  ...  We present experimental results on a mini-biped robot that performs foot placements on rocks, implementing a 3D foothold perception system, that uses the developed patch mapping and tracking framework.  ...  Similarly, in [14] , [15] , range sensing was used for a 2D graph-based footstep planner, implemented on the mini-bipedal robot NAO.  ... 
doi:10.1016/j.robot.2019.05.012 fatcat:73gwd3mpfrcfndqgrh6kjwedlm

Autonomous Navigation of a Humanoid Robot Over Unknown Rough Terrain [chapter]

Koichi Nishiwaki, Joel Chestnutt, Satoshi Kagami
2016 Springer Tracts in Advanced Robotics  
This paper presents an integration of laser-based perception, footstep planning, and walking control of a humanoid robot for navigation on previously unknown rough terrain.  ...  A footstep planner decides the sequence of stepping positions by using the obtained terrain shape.  ...  Successful integrations of on-board sensing, footstep planning, and walking control were reported by using a stereo camera system [2] , a laser range sensor [3] , and a monocular camera [4] .  ... 
doi:10.1007/978-3-319-29363-9_35 fatcat:3qgsiwygwvc4bhl2sgz6byfryu

Integrated perception, mapping, and footstep planning for humanoid navigation among 3D obstacles

Daniel Maier, Christian Lutz, Maren Bennewitz
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
To efficiently check for collisions during planning, we developed a new approach that takes into account the shape of the robot and the obstacles.  ...  Based on this model, our system iteratively computes sequences of safe actions including footsteps and whole-body motions, leading the robot to target locations.  ...  The heightmap is used for planning safe footsteps. presented an impressive system that combines environment mapping, footstep planning, and gait control.  ... 
doi:10.1109/iros.2013.6696731 dblp:conf/iros/MaierLB13 fatcat:wqj7mgipm5h4lompibh5kxsgpq

No falls, no resets: Reliable humanoid behavior in the DARPA robotics challenge

C. G. Atkeson, B. P. W. Babu, N. Banerjee, D. Berenson, C. P. Bove, X. Cui, M. DeDonato, R. Du, S. Feng, P. Franklin, M. Gennert, J. P. Graff (+11 others)
2015 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)  
We implemented safety features in our controller to detect potential catastrophic failures, stop the current behavior, and allow remote intervention by a human supervisor.  ...  Our safety methods and operator interface worked: we avoided catastrophe and remote operators could safely recover from difficult situations.  ...  Our motion planning method generated a rough plan for the challenging car egress task of the DRC.  ... 
doi:10.1109/humanoids.2015.7363436 dblp:conf/humanoids/AtkesonBBBBCDDF15 fatcat:a3ngxnyf2fhedoy5swwhq3w544

Vision based persistent localization of a humanoid robot for locomotion tasks

Pablo A. Martínez, Mario Castelán, Gustavo Arechavaleta
2016 International Journal of Applied Mathematics and Computer Science  
This paper presents a method to control the march of a humanoid robot towards directions that are favorable for visual based localization.  ...  Experiments with the NAO humanoid platform show that our method provides persistence of localization, as the robot tends to walk towards directions that are desirable for successful localization.  ...  This is a consequence of one of the main problems present in biped robots while walking: foot slippage on the floor.  ... 
doi:10.1515/amcs-2016-0046 fatcat:lkukjufegbgzxnsmiumeyuzwym

Planning Whole-body Humanoid Locomotion, Reaching, and Manipulation [chapter]

Eiichi Yoshida, Claudia Esteves, Oussama Kanoun, Mathieu Poirier, Anthony Mallet, Jean-Paul Laumond, Kazuhito Yokoi
2010 Motion Planning for Humanoid Robots  
Then a whole-body motion generation method is presented for reaching including steps based on generalized inverse kinematics.  ...  The presented approach benefits from two cutting edges of recent advancement in robotics: powerful probabilistic geometric and kinematic motion planning and advanced dynamic motion control for humanoids  ...  A stereo-vision algorithm by pixel correlation is applied on the stereo image pairs, and produces a dense three dimensional image of the current scene.  ... 
doi:10.1007/978-1-84996-220-9_4 fatcat:4kpvis5dkvbwvbfdlh6ywqx7nu

A closed-loop approach for tracking a humanoid robot using particle filtering and depth data

Pablo Arturo Martínez, Xiao Lin, Mario Castelán, Josep Casas, Gustavo Arechavaleta
2017 Intelligent Service Robotics  
and the locomotion control of the robot based on the Robot Operating System (ROS), which is capable to achieve real time locomotion tasks using a NAO humanoid robot.  ...  Also, the authors would like to thank Mexican Council of Science and Technology (CONACYT) for the PhD studentship of Pablo A.  ...  Martínez and the financial support for the sabbatical leave of Mario Castelán.  ... 
doi:10.1007/s11370-017-0230-0 fatcat:yle7646inbbexcvxwzjcfglmce

Leaving Flatland: Efficient real-time three-dimensional perception and motion planning

Radu Bogdan Rusu, Aravind Sundaresan, Benoit Morisset, Kris Hauser, Motilal Agrawal, Jean-Claude Latombe, Michael Beetz
2009 Journal of Field Robotics  
The proposed system includes comprehensive localization, mapping, path planning, and visualization techniques for a mobile robot to operate autonomously in complex threedimensional (3D) indoor and outdoor  ...  These models are used by a multiregion motion planner that adapts existing two-dimensional planning techniques to operate in 3D terrain.  ...  of excellence at the Technische Universität München for partial support.  ... 
doi:10.1002/rob.20313 fatcat:6fy63hch3vejdj4bu2lrdbk3o4
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