Path-dependent gaze control for obstacle avoidance in vision guided humanoid walking

Author

Seara, Javier E. ; Strobl, Klaus H. ; Schmidt, Giinther

Author_Institution

Inst. of Autom. Control Eng., Technische Univ. Munchen, Munich, Germany

Volume

1

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

887

Abstract

This article presents a novel gaze control strategy for obstacle avoidance in the context of vision guided humanoid walking. The generic strategy is based on the maximization of the predicted visual information. For information/uncertainty management a new hybrid formulation of an extended Kalman filter is employed. The performance resulting from this view direction control scheme shows the dependence of the intelligent gazing behavior on the pre-planned local path.

Keywords

Kalman filters; collision avoidance; intelligent robots; legged locomotion; optimisation; robot vision; uncertainty handling; extended Kalman filter; gaze control strategy; information/uncertainty management; intelligent gazing behavior; obstacle avoidance; path-dependent control; view direction control; vision guided humanoid walking; Automatic control; Humanoid robots; Information management; Intelligent robots; Kalman filters; Legged locomotion; Predictive models; Robot kinematics; Robot vision systems; Stereo vision;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1241705

Filename

1241705