Vision-guided motion primitives for humanoid reactive walking: Decoupled versus coupled approaches

نویسندگان
چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Vision Guided Homing for Humanoid Service Robot

Human beings can easily use eyes to guide arms and hands to reach any particular pose. We have been trying to make robot imitate such intelligent behavior that is called as robotic hand-eye coordination. In this paper we report our research work on vision guided homing for humanoid service robot JINGANG which has active stereo vision and two modular arms. The work is based on the 3D vision reco...

متن کامل

Path-dependent gaze control for obstacle avoidance in vision guided humanoid walking

This article presents a novel gaze control strategy for obstacle avoidance in the context of vision guided humanoid walking. The generic strategy is based on the maximization of the predicted visual information. For information/uncertainty management a new hybrid formulation of an Extended Kalman Filter is employed. The performance resulting from this view direction control scheme shows the dep...

متن کامل

Task-Oriented and Situation-Dependent Gaze Control for Vision Guided Humanoid Walking

–This article presents various aspects of a gaze control scheme for visually guided humanoid robot navigation. The strategy is based on the maximization of the predicted visual information. For the information management a coupled hybrid Extended Kalman Filter is employed. Specific view direction control strategies for two concurrent objectives of different nature, obstacle avoidance and self-l...

متن کامل

Vision based motion generation for humanoid robots

This manuscript present my research activities on real-time vision-based behaviors for complex robots such as humanoids. The underlying main scientific question structuring this work is the following: “What are the decisional processes which make possible for a humanoid robot to generate motion in real-time based upon visual information ?” In soccer humans can decide to kick a ball while runnin...

متن کامل

Reactive Humanoid Motion Planning for Reaching Tasks

This paper addresses a reactive motion planning framework that allows a humanoid robot, supposedly teleoperated, to perform reaching tasks in complex environments with uncertainty like a damaged plant using measured information like voxel map or point clouds. Since sufficient reactiveness is required for smooth human operation, we have developed an efficient computation method to update the env...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: The International Journal of Robotics Research

سال: 2014

ISSN: 0278-3649,1741-3176

DOI: 10.1177/0278364914550891