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A hybrid approach to fast and accurate localization for legged robots

Renato Samperio, Huosheng Hu, Francisco Martín, Vicente Matellán
2008 Robotica (Cambridge. Print)  
This paper describes a hybrid approach to a fast and accurate localization method for legged robots based on Fuzzy-Markov (FM) and Extended Kalman Filters (EKF).  ...  We propose a Fuzzy-Markov-Kalman (FM-EKF) localization method as a combined solution for a poor predictable platform such as Sony Aibo walking robots.  ...  at Essex University (http://essexrobotics. essex.ac.uk), for their support and help in this research.  ... 
doi:10.1017/s0263574708004414 fatcat:zpdkbbr67fc5hn4nrynoquptne

Team Sweden [chapter]

A. Saffiotti, M. Boman, P. Buschka, P. Davidsson, S. Johansson, Z. Wasik
2001 Lecture Notes in Computer Science  
Localization Self-localization in the Sony legged robot league is a challenging task since: egomotion information is extremely inaccurate due to leg slippage and collisions; landmarks can only be observed  ...  For instance, a green blob over a pink one are fused into a landmark; this is rejected, however, if it is too low over the eld.  ... 
doi:10.1007/3-540-45324-5_107 fatcat:ib6g3thyvvar5myxqovwa6vtli

An Autonomous Mobile Robotic System for Surveillance of Indoor Environments

Donato Di Paola, Annalisa Milella, Grazia Cicirelli, Arcangelo Distante
2010 International Journal of Advanced Robotic Systems  
In this paper, we present our autonomous mobile robot for surveillance of indoor environments.  ...  It is shown that the proposed robotic surveillance scheme successfully addresses a number of basic problems related to environment mapping, localization and autonomous navigation, as well as surveillance  ...  Our system tackles these issues based on a fuzzy logic approach.  ... 
doi:10.5772/7254 fatcat:j3up6etfzncxdmpq23ew24n4by

Localization of legged robots combining a fuzzy-Markov method and a population of extended Kalman filters

Francisco Martín, Vicente Matellán, Pablo Barrera, José M. Cañas
2007 Robotics and Autonomous Systems  
This paper presents a new approach to robot vision-based self-localization in dynamic and noisy environments for legged robots when efficiency is a strong requirement.  ...  The major contribution of this paper is the improvement of a Markovian method based on a fuzzy occupancy grid (FMK).  ...  Acknowledgments We want to express our gratitude to the work developed by the TeamChaos four-legged team, and specially to Dr.  ... 
doi:10.1016/j.robot.2007.09.006 fatcat:52x4wfsqozcbjbvzuzdss7tmfi

Fuzzy uncertainty modeling for grid based localization of mobile robots

D. Herrero-Pérez, H. Martínez-Barberá, K. LeBlanc, A. Saffiotti
2010 International Journal of Approximate Reasoning  
Our method has been validated experimentally on two different platforms, a legged robot equipped with vision and a wheeled robot equipped with range sensors.  ...  This paper presents a localization method using fuzzy logic to represent the different facets of uncertainty present in sensor data.  ...  We would like to thank the anonymous reviewers for insightful comments and suggestions. We are indebted to Pär Buschka and Zbignew Wasik for their invaluable help with the AIBO implementation.  ... 
doi:10.1016/j.ijar.2010.06.001 fatcat:xtnpszp4wzgxlamyvb5asgw56u

Reactive behaviours and agent architecture for Sony legged robots to play football

Huosheng Hu, Dongbing Gu
2001 Industrial robot  
A behaviour-based hierarchy is proposed for the Essex Rovers robot football team to achieve intelligent actions in real time, which includes both a neural network based color detection algorithm and a  ...  Preliminary results based on legged locomotion experiments of Sony walking robots were presented.  ...  Acknowledgements: We would like to thank Masahiro Fujita and other staff members in the Digital Creatures Laboratory, Sony Corporation, Japan for their technical support.  ... 
doi:10.1108/01439910110365421 fatcat:pttdvby5jnegvmbdeawwjwvfpa

Robust Multi-robot Object Localization Using Fuzzy Logic [chapter]

Juan Pedro Cánovas, Kevin LeBlanc, Alessandro Saffiotti
2005 Lecture Notes in Computer Science  
The information provided by different robots is then combined using fuzzy logic techniques, in order to reach a consensus between the robots.  ...  Cooperative localization of objects is an important challenge in multi-robot systems.  ...  In this paper, we propose a new approach to the cooperative localization problem, based on fuzzy logic.  ... 
doi:10.1007/978-3-540-32256-6_20 fatcat:pim7luudgjddpbzbsnukg3mxha

Embedded Behavioral Control of Four-legged Robots [chapter]

David Herrero, Humberto Martinez
2007 Robotic Soccer  
If the robot is not properly localized (its localization quality goes below 0.6) a special method trackLandMarks() is called, which sets necessities for the most relevant landmarks or nets.  ...  Self-localization in the GM is based on fuzzy logic (Buschka et al., 2000) , (Herrero-Pérez et al., 2004) .  ... 
doi:10.5772/5132 fatcat:kmpf75rsabdnrngs5vuvscmqjq

Visual Localisation of Quadruped Walking Robots [chapter]

Renato Samperio, Huosheng Hu
2010 Robot Localization and Map Building  
Part of this research was supported by a CONACyT (Mexican government) scholarship with reference number 178622.  ...  Acknowledgements We would like to thank TeamChaos (http://www.teamchaos.es) for their facilities and programming work and Essex technical team (http://essexrobotics.essex.ac.uk) for their support in this  ...  In general, visual localisation of legged robots can be achieved by using artificial and natural landmarks.  ... 
doi:10.5772/9253 fatcat:pap77badfbadnk6s3alvjr7gna

A Novel Prototype Model for Swarm Mobile Robot Navigation Based Fuzzy Logic Controller

Sherif Kamel Hussein, Mashael Amer Al-Mutairi
2019 International Journal of Computer Science & Information Technology (IJCSIT)  
Navigation means that the robot can move through the environment to reach a destination. Obstacles avoidance considers a challenge which robot must overcome.  ...  In this work, the authors propose an efficient technique for obstacles avoidance through navigation of swarm mobile robot in an unstructured environment.  ...  The landmarks have known position, relative to which a robot can localize itself. [9] .  ... 
doi:10.5121/ijcsit.2019.11206 fatcat:ksqxq3budja7zhbgkx7f65osxy

IMPLEMENTATION OF A LOCALIZATION-ORIENTED HRI FOR WALKING ROBOTS IN THE ROBOCUP ENVIRONMENT

RENATO SAMPERIO, HUOSHENG HU, DONGBING GU
2008 International Journal of Information Acquisition  
The system consists of legged robots, behavior modules, an overhead visual tracking system, and a graphic user interface.  ...  Received Accepted This paper presents the design and implementation of a human-robot interface capable of evaluating robot localization performance and maintaining full control of robot behaviors in the  ...  Acknowledgments We would like to thank Dr Francisco Martin from Universidad Rey Juan Carlos, Dr Vicente Matellan from Universidad de Leon and Team-Chaos of the RoboCup four legged league for their programming  ... 
doi:10.1142/s0219878908001697 fatcat:yts2z6erizge7gfpv4oozfukgi

A fuzzy qualitative approach to human motion recognition

Chee Seng Chan, Honghai Liu, David Brown, Naoyuki Kubota
2008 2008 IEEE International Conference on Fuzzy Systems (IEEE World Congress on Computational Intelligence)  
In this paper, these problems are addressed from a direction which utilises the concept of fuzzy qualitative robot kinematics [9] .  ...  First of all, the training data representing a typical activity is acquired by tracking the human anatomical landmarks in an image sequences.  ...  with respect to the base frame g(0) over a duration T c is: 14) whereas the product of exponential maps for leg kinematics chains with respect to the same base frame over a duration T c is g arm (QS  ... 
doi:10.1109/fuzzy.2008.4630530 dblp:conf/fuzzIEEE/ChanLBK08 fatcat:iifcifb2vfhkfo6y6lzoecqbca

Comparison of Localization Methods for a Robot Soccer Team

Hatice Kose, Buluc Celik, H. Levent Akin
2006 International Journal of Advanced Robotic Systems  
R-MCL is a hybrid method based on both Markov Localization (ML) and Monte Carlo Localization (MCL) where the ML module finds the region where the robot should be and MCL predicts the geometrical location  ...  which is vital for robot soccer.  ...  We thank Stephen Gutmann and Dieter Fox for kindly providing the test data, and their endless help when needed.  ... 
doi:10.5772/5727 fatcat:5b6njptxcfeazk2pqydfskboqy

Biologically inspired walking machines: design, control and perception

R. Dillmann, J. Albiez, B. Gassmann, T. Kerscher, M. Zollner
2007 Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences  
of a threedimensional world model to be used as knowledge base is given.  ...  Starting with a description of the general system design idea, an example for the design of the mechanical construction, a computer supported design procedure for the control architecture and the description  ...  The authors would like to thank the German Research Foundation (DFG) for sponsoring their work over the last years.  ... 
doi:10.1098/rsta.2006.1914 pmid:17148053 fatcat:43wwrb5vlra3bcvmz3njqm55jy

Integration of Coordination Architecture and Behavior Fuzzy Learning in Quadruped Walking Robots

Dongbing Gu, Huosheng Hu
2007 IEEE Transactions on Systems Man and Cybernetics Part C (Applications and Reviews)  
This paper presents the design and implementation of a coordination architecture for quadruped walking robots to learn and execute soccer-playing behaviors.  ...  Index Terms-Behavior-based control, fuzzy logic controller (FLC), reinforcement learning (RL).  ...  Automation Technical Committee of Internet and Online Robots since 2001. During 2001-2004, he was a member of the IASTED Technical Committee on "Robotics."  ... 
doi:10.1109/tsmcc.2007.897491 fatcat:uww6esskkbf6vhe4r7ezetsgxm
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