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Humanoid robot localization in complex indoor environments

A Hornung, K M Wurm, M Bennewitz
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper, we present a localization method for humanoid robots navigating in arbitrary complex indoor environments using only onboard sensing.  ...  Reliable and accurate localization for humanoid robots operating in such environments is a challenging task.  ...  The contribution of this paper is a robust localization system for humanoid robots navigating in complex, multi-level indoor environments.  ... 
doi:10.1109/iros.2010.5649751 dblp:conf/iros/HornungWB10 fatcat:l6y74nr4m5dhvn4mi6lggezvoi

Monte Carlo Localization for Humanoid Robot Navigation in Complex Indoor Environments

Armin Hornung, Stefan Oßwald, Daniel Maier, Maren Bennewitz
2014 International Journal of Humanoid Robotics  
In this article, we present a probabilistic localization method for humanoid robots navigating in arbitrary complex indoor environments using only onboard sensing, which is a challenging task.  ...  Accurate and reliable localization is a prerequisite for autonomously performing highlevel tasks with humanoid robots.  ...  His main research focus lies in humanoid robot navigation in complex indoor environments.  ... 
doi:10.1142/s0219843614410023 fatcat:phooukthhrgpxlci2ffgg3wb4i

Combining 3D SLAM and visual tracking to reach and retrieve objects in daily-life indoor environments

Pierre Gergondet, Damien Petit, Maxime Meilland, Abderrahmane Kheddar, Andrew I. Comport, Andrea Cherubini
2014 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)  
Abstract -In this paper, we draw perspectives to endow a humanoid robot with capabilities to reach known object in an indoor environment by combining continuous monitoring and building using SLAM and visual  ...  Combining 3D SLAM and visual tracking to reach and retrieve objects in daily-life indoor environments.  ...  The demonstrators of the project consists in having a humanoid robot that operate tasks, in indoor environments such as houses or offices.  ... 
doi:10.1109/urai.2014.7057501 dblp:conf/urai/GergondetPMKCC14 fatcat:2kemra5pfzb67epoerdl3x5h34

Real-time navigation in 3D environments based on depth camera data

Daniel Maier, Armin Hornung, Maren Bennewitz
2012 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)  
As our results demonstrate, the depth camera is well-suited for robust localization and reliable obstacle avoidance in complex indoor environments.  ...  In this paper, we present an integrated approach for robot localization, obstacle mapping, and path planning in 3D environments based on data of an onboard consumerlevel depth camera.  ...  ACKNOWLEDGMENTS The authors would like to thank Mathias Luber for his help in laser-based tracking of the robot's pose for ground truth data during the experiments.  ... 
doi:10.1109/humanoids.2012.6651595 dblp:conf/humanoids/MaierHB12 fatcat:disppo447rhlzewm4rnbguyetq

Humanoid robot indoor navigation based on 2D bar codes: application to the NAO robot

Laurent George, Alexandre Mazel
2013 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)  
In this paper, we put forward a method for humanoid robot indoor localization and navigation, using 2D bar codes, running on embedded hardware.  ...  Moreover using our system the robots manage to map and navigate a complex environment with multiple rooms that includes doors and furniture.  ...  robot to navigate accurately in indoor environments.  ... 
doi:10.1109/humanoids.2013.7029995 fatcat:tkwpw73i7jenlesgtrhytllgu4

Simultaneous Localization and Mapping Trends and Humanoid Robot Linkages

Farshid Pirahansiah, Siti Norul Huda Sheikh Abdullah, Shahnorbanun Sahran
2013 Asia-Pacific Journal of Information Technology and Multimedia  
This paper also reviews the use of SLAM for humanoid robots and aims to address the issue of the significance of SLAM engine in the future of stereo vision on humanoid robots.  ...  Simultaneous localization and mapping (SLAM), also known as concurrent mapping and localization (CML), is an important topic or robotics files.  ...  Robot Soccer among Faculty of Information Science and Technology students".  ... 
doi:10.17576/apjitm-2013-0202-03 fatcat:ljujog7chzeopf2ti57azhxeoe

Adaptive level-of-detail planning for efficient humanoid navigation

Armin Hornung, Maren Bennewitz
2012 2012 IEEE International Conference on Robotics and Automation  
In this paper, we consider the problem of efficient path planning for humanoid robots by combining grid-based 2D planning with footstep planning.  ...  To decide which planning framework to use, our approach classifies the environment into regions of different complexity with respect to the traversability.  ...  Here, we consider humanoid navigation in indoor environments.  ... 
doi:10.1109/icra.2012.6224898 dblp:conf/icra/HornungB12 fatcat:vinpiqxnqnguffrceyc4w2trnm

Secure Autonomous Cloud Brained Humanoid Robot Assisting Rescuers in Hazardous Environments

Georgios Angelopoulos, Nikolaos Baras, Minas Dasygenis
2021 Electronics  
Many humanoid robot implementations are found in the literature; however, most of them have some distinct drawbacks, such as a high cost and complexity.  ...  In order to evaluate the proposed system, we conducted multiple experiments in synthetic hazardous environments.  ...  It presents a cloud brained autonomous robot capable of assisting rescuers primarily in indoor hazardous environments.  ... 
doi:10.3390/electronics10020124 fatcat:35ir7qrdtnegniabjznnl3ikim

ICP Localization and Walking Experiments on a TALOS Humanoid Robot

T. Lasguignes, I. Maroger, M. Fallon, M. Ramezani, L. Marchionni, O. Stasse, N. Mansard, B. Watier
2021 2021 20th International Conference on Advanced Robotics (ICAR)  
This paper is an integration paper showing that it is now feasible to accurately guide a humanoid robot in an environment in real time using a LiDAR system.  ...  This system paper describes the integration and the evaluation of an ICP-based localization system on the TALOS humanoid robot.  ...  In this work we focus on the localization performance using an onboard computation. In this work, we want to localize the TALOS humanoid robot in an indoor industrial-like environment.  ... 
doi:10.1109/icar53236.2021.9659474 fatcat:g5zl3tn46rgqfjq7mtnj5z4aka

Autonomous robots for harsh environments: a holistic overview of current solutions and ongoing challenges

Cuebong Wong, Erfu Yang, Xiu-Tian Yan, Dongbing Gu
2018 Systems Science & Control Engineering  
A number of classes of robots emerge as particularly favoured by the research community for solving challenging problems in difficult environments.  ...  This paper presents a holistic overview of robotics and autonomous systems developed for applications in harsh environments where interactions with robots are difficult to model due to reasons such as  ...  UAVs Indoor localization Without access to GPS in indoor environments, UAV loses its primary means of localization.  ... 
doi:10.1080/21642583.2018.1477634 fatcat:pkbtyuyy7vaizbuzkmsxs56lg4

Special issue on smart interactions in cyber-physical systems: Humans, agents, robots, machines, and sensors

Donghan Kim, Sebastian Rodriguez, Eric T. Matson, Gerard Jounghyun Kim
2018 ETRI Journal  
Papers that show the design, models, or techniques of advancement were selected in the wider context of large, complex systems, including those involving multiple, heterogeneous actors.  ...  To expand the knowledge in this area, we should explain how to model, design, validate, implement, and experiment with these complex systems of interaction, communication, and networking, which will be  ...  The third paper, "Optimization-based Humanoid Robot Navigation Using Monocular Camera in Indoor Environment," shows how robot navigation gives robots mobility.  ... 
doi:10.4218/etrij.18.3018.0000 fatcat:eajelfvwvzhhbjs3nveqbwng2m

Fast Perception, Planning, and Execution for a Robotic Butler: Wheeled Humanoid M-Hubo [article]

Moonyoung Lee, Yujin Heo, Jinyong Park, Hyun-Dae Yang Ho-Deok Jang, Philipp Benz, Hyunsub Park, In So Kweon, Jun-Ho Oh
2020 arXiv   pre-print
In addition, we develop a new robotic butler system for a wheeled humanoid that is capable of fetching requested objects at 24% of the speed a human needs to fulfill the same task.  ...  In order to assist with daily tasks such as fetching a beverage, a service robot must be able to perceive its environment and generate corresponding motion trajectories.  ...  In this work, we focus on one particular application for service robot: fetching and serving drinks at comparable human-like speeds in a static indoor environment.  ... 
arXiv:2001.00356v1 fatcat:xqn4hr4hr5h2rg3oucnv3vo5su

Hierarchical Fuzzy Motion Planning for Humanoid Robots Using Locomotion Primitives and a Global Navigation Path

Yong-Tae Kim
2010 International Journal of Fuzzy Logic and Intelligent Systems  
This paper presents a hierarchical fuzzy motion planner for humanoid robots in 3D uneven environments. First, we define both motion primitives and locomotion primitives of humanoid robots.  ...  We verify our approach on a virtual humanoid robot in a simulated environment. Simulation results show a reduction in planning time and the feasibility of the proposed method.  ...  Workspace model and map generation In this paper, we consider motion planning of humanoid robots in a complex indoor environment as shown in Fig. 2 . Humanoid robot can walk in a 3D workspace, .  ... 
doi:10.5391/ijfis.2010.10.3.203 fatcat:wnmfca2sbbghxi2edjw7wajdnm

A Cognitive Model for Humanoid Robot Navigation and Mapping using Alderbaran NAO [article]

Jiawei Xu, Ruisheng Wang, Shigang Yue, Loo Chu Kiong
2014 arXiv   pre-print
The aim of this work is to build a cognitive model for the humanoid robot, especially, we are interested in the navigation and mapping on the humanoid robot.  ...  Firstly, the robotics should realize where it is. Second, we would like to test the theory that this is how humans map their environment.  ...  Note that the nodes in the hierarchy do not need to be restricted to spatial ones alone. V. Experimental Results This section presents a robot path simulation in the indoor environment.  ... 
arXiv:1405.3095v2 fatcat:xnbgjjzyvreulmfrvqaja7vliq

Reem-B: An autonomous lightweight human-size humanoid robot

R. Tellez, F. Ferro, S. Garcia, E. Gomez, E. Jorge, D. Mora, D. Pinyol, J. Oliver, O. Torres, J. Velazquez, D. Faconti
2008 Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots  
This paper introduces the humanoid robot Reem-B, built by Pal Technology as a research platform in the field of service robots.  ...  Autonomy in this robot has been improved from other robots at three different levels: with an increased battery life (estimated twice of the competitors), with the ability to autonomously navigate in indoor  ...  A humanoid robot can move in the same way as a human on that environment.  ... 
doi:10.1109/ichr.2008.4755995 dblp:conf/humanoids/TellezFGGJMPPTVF08 fatcat:ute3fi6vvvfell6ls6grwmqypu
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