Online Humanoid Locomotion Control by using 3D Vision Information

Autonomous locomotion is one of the most important ability for humanoid utilized in human working environment. Walking control system that follows the desired motion given online is designed with layered control architecture and implemented as a basic system of autonomous walking. Moving goal tracking function and reactive obstacle avoidance function are implemented using stereo vision system as higher layers of the walking control system. Experiments using these layers are shown as basic examples of autonomous locomotion control system.

[1]  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).

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

[3]  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).

[4]  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).

[5]  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).

[6]  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).

[7]  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).

[8]  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).

[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]  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).

[12]  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.

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

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

[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).