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Fuzzy Visual Navigation Using Behavior Primitives for Small Humanoid Robot

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Robot Intelligence Technology and Applications 2012

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 208))

Abstract

In this paper, we present a fuzzy visual navigation method that uses behavior primitives for humanoid robots. We define behavior primitives that consist of locomotion and motion primitives. The fuzzy navigation system consists of four control algorithms: autonomous walking, target tracking, obstacle avoidance, and behavior control based on marker recognition. We verify the proposed method through navigation experiments by using a developed small humanoid robot. The experimental results demonstrate that the humanoid robot can navigate efficiently and stably to the target and show improved performance of behavior planning for humanoid navigation.

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References

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Author information

Authors and Affiliations

  1. Dept. of Electrical, Electronic and Control Engineering, Hankyong National University, 327 Joongang-ro, Anseong, Gyeonggi-do, 456-749, Korea

    Yong-Tae Kim

  2. Kohyoung Technology, 345-90 Gasan-dong, Seoul, 153-802, Korea

    Su-Hee Noh

Authors
  1. Yong-Tae Kim
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  2. Su-Hee Noh
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Corresponding author

Correspondence to Yong-Tae Kim .

Editor information

Editors and Affiliations

  1. , Electrical Engineering and Computer Sci., KAIST, 291 Daehak-ro, Daejeon, 305-701, Korea, Republic of (South Korea)

    Jong-Hwan Kim

  2. Dept. Computer &, Information Technology (ICT), Purdue University, N. Grant St. 401, West Lafayette, 47907-1421, Indiana, USA

    Eric T. Matson

  3. , Dept. of Civil and Environmental Engg., KAIST, Daehak-ro 291, Daejeon, 305-701, Korea, Republic of (South Korea)

    Hyun Myung

  4. , Faculty of Engineering, The University of Auckland, Private Bag, Auckland, 1142, New Zealand

    Peter Xu

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Kim, YT., Noh, SH. (2013). Fuzzy Visual Navigation Using Behavior Primitives for Small Humanoid Robot. In: Kim, JH., Matson, E., Myung, H., Xu, P. (eds) Robot Intelligence Technology and Applications 2012. Advances in Intelligent Systems and Computing, vol 208. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37374-9_79

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  • DOI: https://doi.org/10.1007/978-3-642-37374-9_79

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-37373-2

  • Online ISBN: 978-3-642-37374-9

  • eBook Packages: EngineeringEngineering (R0)

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