Title :
Whole Body Locomotion Planning of Humanoid Robots based on a 3D Grid Map
Author :
Kanehiro, Fumio ; Yoshimi, Takashi ; Kajita, Shuuji ; Morisawa, Mitsuharu ; Fujiwara, Kiyoshi ; Harada, Kensuke ; KANEKO, Kenji ; Hirukawa, Hirohisa ; Tomita, Fumiaki
Author_Institution :
National Institute of Advanced Industrial Science and Technology(AIST) Tsukuba Central 2, 1-1-1 Umezono, Tukuba, Ibaraki, 305-8568 JAPAN f-kanehiro@aist.go.jp
Abstract :
This paper proposes a method for a humanoid robot to generate 3D model of the environment using a stereo vision, find a movable space using it and plan feasible locomotion online. The model is generated by an accumulation of 3D grid maps which are made from the range data of the field of view obtained by a correlation based stereo vision. The locomotion is planned by an online whole body pattern generator which can modify robot’s waist height, an upper body posture and so on according to the size of the movable space.
Keywords :
3D Grid Map; Humanoid Robot; Stereo Vision; Whole Body Locomotion; Biological system modeling; Humanoid robots; Legged locomotion; Mesh generation; Mobile robots; Orbital robotics; Robot vision systems; Space technology; Stereo vision; Technology planning; 3D Grid Map; Humanoid Robot; Stereo Vision; Whole Body Locomotion;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570258
