This paper presents key ideas of our approach to perception-based biped robot walking. Computer vision techniques are employed for reactive adaptation of the stepsequence taking into account the restrictions imposed by dynamics and mechanical construction of the walking machine. The vision-based approach and guidance system were evaluated by experiments with the biped robot BARt-UH.
Practical Experience with Vision-guided Biped Walking
2003-06-30
10 pages
Article/Chapter (Book)
Electronic Resource
English
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