Naslov
Experiments in Vision-Guided Biped Walking

Autori
Lorch, O. ; Albert, A. ; Denk, J. ; Gerecke, M. ; Cupec, Robert ; Seara, J. F. ; Gerth, W. ; Schmidt Genther

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2002) / - Lausanne, 2002, 2484-2490

Skup
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2002)

Mjesto i datum
Lausanne, Švicarska, 30.09.2002. - 04.10.2002

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Biped Walking Robots; Robot Vision; Visual Servoing

Sažetak
Goal-oriented vision-guided biped locomotion requires a high degree of coordination between perception and walking. How to establish this coordination remains a fundamental and rarely studied problem in legged robotics. Some of our investigations into this field are outlined in this article by presenting recent results in vision-guided biped locomotion. The guidance and control approaches developed are experimentally validated on the biped robot BARt-UH. It is shown how perception techniques are employed in closed-loop for step sequence adaptation and locomotion control of a walking machine.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA