Naslov
Experiments in Vision-Guided Robot Walking in a Structured Scenario

Autori
Cupec, Robert ; Schmidt, Günther ; Lorch, Oliver

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

Izvornik
Proceedings of the IEEE International Symposium on Industrial Electronics (ISIE) 2005 / - , 2005, 1581-1586

Skup
IEEE International Symposium on Industrial Electronics (ISIE) 2005

Mjesto i datum
Dubrovnik, Hrvatska, 20.06.2005. - 23.06.2005

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
biped walking robots; image processing; step sequence planning

Sažetak
Locomotion of a biped robot in a scenario with obstacles requires a high degree of coordination between perception and walking. This article presents key ideas of a vision-based strategy for guidance of walking robots in structured scenarios. Computer vision techniques are employed for reactive adaptation of step sequences allowing a robot to step over or upon or walk around obstacles. A highly accurate visual feedback is achieved by a combination of line-based scene analysis and real-time feature tracking. The proposed vision-based approach was evaluated by experiments with a real humanoid robot.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA