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.


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    Titel :

    Online Humanoid Walking Control and 3D Vision-based Locomotion


    Beteiligte:
    Siciliano, Bruno (Herausgeber:in) / Dario, Paolo (Herausgeber:in) / Nishiwaki, Koichi (Autor:in) / Kagami, Satoshi (Autor:in) / Kuffner, James J. (Autor:in) / Okada, Kei (Autor:in) / Kuniyoshi, Yasuo (Autor:in) / Inaba, Masayuki (Autor:in) / Inoue, Hirochika (Autor:in)


    Erscheinungsdatum :

    30.06.2003


    Format / Umfang :

    10 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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