engleski

Vision-Guided Humanoid Walking - Concepts and Experiments

This paper presents key ideas of a novel approach to perception-based biped robot walking. Computer vision techniques are employed for reactive adaptation of step sequences allowing a robot to step over or walk around obstacles. High precision visual feedback is provided by the combination of line-based scene analysis and real-time feature tracking. The proposed vision-based approach and the robot guidance system were evaluated by experiments with the humanoid biped Johnnie.

vision-based walking; step sequence planning

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