Title :
NAO walking down a ramp autonomously
Author :
Lutz, Christian ; Atmanspacher, Felix ; Hornung, Armin ; Bennewitz, Maren
Author_Institution :
Dept. of Comput. Sci., Univ. of Freiburg, Freiburg, Germany
Abstract :
In this work, we present methods that enable a humanoid robot to traverse ramps using only vision and inertial data for sensing. Our video illustrates the method and shows the results obtained with a Nao humanoid. Using the proposed approach, the robot is able to autonomously walk down a 2.10m long ramp at an inclination of 20°.
Keywords :
humanoid robots; legged locomotion; NAO; Nao humanoid; autonomous ramp walking; humanoid robot; inertial data; Cameras; Humanoid robots; Legged locomotion; Planning; Robot sensing systems;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
Print_ISBN :
978-1-4673-1737-5
DOI :
10.1109/IROS.2012.6386268
