Abstract
This paper presents key ideas of a novel approach to perception-based biped robot walking. Computer vision techniques are employed for reactive adaptation of step sequences allowing a robot to step over or walk around obstacles. High precision visual feedback is provided by the combination of line-based scene analysis and real-time feature tracking. The proposed vision-based approach and the robot guidance system were evaluated by experiments with the humanoid biped Johnnie.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Cupec, R., Lorch, 0., Schmidt, G. (2001) Object Recognition and Estimation of Camera Orientation for Walking Machines. Tagungsband zum 17. Fachgespräch Autonome Mobile Systeme, Stuttgart, Germany, Springer, 1–10
Kagami, S. et al. (2001) Design and Implementation of Software Research Platform for Humanoid Robotics: H7. Proc. of the IEEE-RAS Int. Conf. on Humanoid Robots (HUMANOIDS 2001), Tokyo, Japan, 245–258
Kajita, S., Tani, K. (1996) Adaptive Gait Control of a Biped Robot based on Realtime Sensing of the Ground Profile. Proc. of the IEEE Int. Conf. on Robotics and Automation, Minneapolis, Minnesota, 570–577
Kuffner, J. J. Jr., Nishiwaki, K., Kagami, S., Inaba, M., Inoue, H. (2001) Footstep Planning Among Obstacles for Biped Robots. Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Maui, Hawaii, USA, 500–505
Lebègue, X., Aggarwal, J. K. (1993) Significant Line Segments for an Indoor Mobile Robot. IEEE Trans actions on Robotics and Automation, Vol. 9, No. 6, December 1993, 801–815
Lorch, O., Denk, J., Seara, J. F., Buss, M., Freyberger, F., Schmidt, G. (2000) ViGWaM-An Emulation Environment for a Vision Guided Virtual Walking Machine. Proc. of IEEE-RAS Int. Conf. on Humano id Robots (HUMANOIDS 2000), Cambridge, Massachusetts
Lorch, O., Albert, A., Denk, J., Gerecke, M., Cupec, R., Seara, J. F., Gerth, W., Schmidt, G. (2002) Experiments in Vision-Guided Biped Walking. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Lausanne, Switzerland
Pack, D. J. (1996) Perception-Based Control for a Quadruped Walking Robot. Proc. ofthe IEEE Int. Conf. on Robotics and Automation, Minneapolis, Minnesota, 2994–3001
Pfeiffer, F., Löffler, K., Gienger, M. (2002) The Concept of Jogging Johnnie. Proc. of the IEEEInt. Conf. on Robotics and Automation, Washington DC, USA, 3129–3135
Shin, D. et al. (1989) Realization of Obstacle Avoidance by Biped Walking Robot Equiped with Vision System. Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Tsukuba, Japan, 268–275
Yagi, M., Lumelsky, V. (1999) Biped Robot Locomotion in Scenes with Unknown Obstacles. Proc. of the IEEE Int. Conf. on Robotics and Automation, Detroit, Michigan, 375–380
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2003 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Cupec, R., Lorch, O., Schmidt, G. (2003). Vision-Guided Humanoid Walking — Concepts and Experiments. In: Dillmann, R., Wörn, H., Gockel, T. (eds) Autonome Mobile Systeme 2003. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-18986-9_1
Download citation
DOI: https://doi.org/10.1007/978-3-642-18986-9_1
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-20142-7
Online ISBN: 978-3-642-18986-9
eBook Packages: Springer Book Archive