Online Humanoid Walking Control and 3D Vision-based Locomotion View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

2003-06-30

AUTHORS

Koichi Nishiwaki , Satoshi Kagami , James J. Kuffner , Kei Okada , Yasuo Kuniyoshi , Masayuki Inaba , Hirochika Inoue

ABSTRACT

Autonomous locomotion is one of the most important capabilities for humanoid robots operating within human environments. We present a walking control system that follows a given desired motion online using a layered control architecture, and implemented as a basic system of autonomous walking. A moving goal tracking function and reactive obstacle avoidance functions are implemented together with a stereo vision system, forming higher layer components of an autonomous locomotion system. Experiments using these layers are shown as basic examples of autonomous locomotion control. More... »

PAGES

85-94

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/3-540-36268-1_6

DOI

http://dx.doi.org/10.1007/3-540-36268-1_6

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1042674635


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