Experiments in Vision-Guided Robot Walking in a Structured Scenario (CROSBI ID 507345)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Cupec, Robert ; Schmidt, Günther ; Lorch, Oliver
engleski
Experiments in Vision-Guided Robot Walking in a Structured Scenario
Locomotion of a biped robot in a scenario with obstacles requires a high degree of coordination between perception and walking. This article presents key ideas of a vision-based strategy for guidance of walking robots in structured scenarios. Computer vision techniques are employed for reactive adaptation of step sequences allowing a robot to step over or upon or walk around obstacles. A highly accurate visual feedback is achieved by a combination of line-based scene analysis and real-time feature tracking. The proposed vision-based approach was evaluated by experiments with a real humanoid robot.
biped walking robots; image processing; step sequence planning
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Podaci o prilogu
1581-1586-x.
2005.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the IEEE International Symposium on Industrial Electronics (ISIE) 2005
Podaci o skupu
IEEE International Symposium on Industrial Electronics (ISIE) 2005
predavanje
20.06.2005-23.06.2005
Dubrovnik, Hrvatska