Title :
A Sensor Fusion Technique Using Visual and Ultrasonic Information to Acquire Obstacle Avoidance Behaviors for Quadruped Robots
Author :
Izumi, Kiyotaka ; Watanabe, Keigo ; Shindo, Masaaki ; Sato, Ryoichi
Author_Institution :
Dept. of Adv. Syst. Control Eng., Saga Univ.
Abstract :
In this paper, an obstacle avoidance method is described for a quadruped walking robot by using camera image and ultrasonic sensors. A single camera is used to acquire the rough information of three-dimensional obstacle, while some ultrasonic sensors are used to obtain the accurate information of the obstacle. Thus, the obstacle is efficiently measured by combining these sensors properly. The effectiveness of the proposed method is verified for several experiments, in which TITAN-VIII is adopted as an experimental setup
Keywords :
collision avoidance; legged locomotion; sensor fusion; TITAN-VIII; obstacle avoidance behaviors; quadruped walking robots; sensor fusion technique; ultrasonic information; visual information; CMOS image sensors; Cameras; Crawlers; Image sensors; Legged locomotion; Mobile robots; Robot sensing systems; Robot vision systems; Sensor fusion; Wheels; Camera Image; Obstacle Avoidance; Quadruped Walking Robot; Ultrasonic Sensors;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.315378
