휴머노이드 로봇을 위한 비전기반 장애물 회피 시스템 개발|RISS 상세보기

다국어 초록 (Multilingual Abstract)

This paper addresses the vision based autonomous walking control system. To handle the obstacles which exist beyond the field of view(FOV), we used the 3d panoramic depth image. Moreover, to decide the avoidance direction and walking motion of a humanoid robot for the obstacle avoidance by itself, we proposed the vision based path planning using 3d panoramic depth image. In the vision based path planning, the path and walking motion are decided under environment condition such as the size of obstacle and available avoidance space. The vision based path planning is applied to a humanoid robot, URIA. The results from these evaluations show that the proposed method can be effectively applied to decide the avoidance direction and the walking motion of a practical humanoid robot.

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목차 (Table of Contents)

Abstract
1. 서론
2. 비전기반 장애물 회피 시스템
3. 실험 및 결과
3. 결론

Abstract
1. 서론
2. 비전기반 장애물 회피 시스템
3. 실험 및 결과
3. 결론
감사의 글
참고문헌
저자소개

참고문헌 (Reference)

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4 O. Stasse, "Strategies for Humanoid Robots to Dynamically Walk Over Large Obstacles" 25 (25): 960-967, 2009

5 K. Zhang, "Robust stereo matching with fast Normalized Cross-Correlation over shape-adaptive regions" 2357-2360, 2009

6 A. Krishnan, "Range estimation from focus using a non-frontal imaging camera" 20 (20): 169-185, 1996

7 Y. Ayaz, "Planning footsteps in obstacle cluttered environments" 156-161, 2009

8 J. Chestnutt, "Footstep Planning for the Honda ASIMO Humanoid" 629-634, 2005

9 J. J. Kuffner, "Footstep Planning Among Obstacles for Biped Robots" 500-505, 2001

10 M. Yagi, "Biped Robot Locomotion in Scenes with Unknown Obstacles" 375-380, 1999