Online Humanoid Walking Control and 3D Vision-based Locomotion

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.

[1]  Masayuki Inaba,et al.  Self-collision detection and prevention for humanoid robots , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[2]  Satoshi Kagami,et al.  Design and Implementation of Onbody Real-time Depthmap Generation System , 2000 .

[3]  Atsuo Takanishi,et al.  Physical interaction between human and a bipedal humanoid robot-realization of human-follow walking , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[4]  Atsuo Takanishi,et al.  Development of a bipedal humanoid robot having antagonistic driven joints and three DOF trunk , 1998, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190).

[5]  Masayuki Inaba,et al.  Plane segment finder: algorithm, implementation and applications , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[6]  Shuuji Kajita,et al.  Real-time 3D walking pattern generation for a biped robot with telescopic legs , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[7]  Shuuji Kajita,et al.  Adaptive Gait Control of a Biped Robot Based on Realtime Sensing of the Ground Profile , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[8]  M. Vukobratovic,et al.  On the stability of anthropomorphic systems , 1972 .

[9]  Masayuki Inaba,et al.  Online generation of humanoid walking motion based on a fast generation method of motion pattern that follows desired ZMP , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[10]  Vladimir J. Lumelsky,et al.  Biped robot locomotion in scenes with unknown obstacles , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[11]  Uwe D. Hanebeck,et al.  Perception errors in vision guided walking: analysis, modeling, and filtering , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[12]  K. Hirai,et al.  Current and future perspective of Honda humamoid robot , 1997 .

[13]  Masayuki Inaba,et al.  Footstep planning among obstacles for biped robots , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[14]  Vladimir J. Lumelsky,et al.  Synthesis of turning pattern trajectories for a biped robot in a scene with obstacles , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[15]  Atsuo Takanishi,et al.  Online walking pattern generation for biped humanoid robot with trunk , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).