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.
Online Humanoid Walking Control and 3D Vision-based Locomotion
30.06.2003
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Direct Centroidal Control for Balanced Humanoid Locomotion
TIBKAT | 2023
|Direct Centroidal Control for Balanced Humanoid Locomotion
Springer Verlag | 2022
|Biologically Inspired Locomotion Control for Humanoid Robot HOAP-1
British Library Conference Proceedings | 2002
|