Title :
A vision-based legged robot as a research platform
Author :
Kagami, Satoshi ; Okada, Kei ; Kabasawa, Mitsutaka ; Matsumoto, Yoshio ; Konno, Atsushi ; Inaba, Masayuki ; Inoue, Hirochika
Author_Institution :
Dept. of Mech.-Inf., Tokyo Univ., Japan
Abstract :
View changing because of vibration while walking is one of the most fundamental problem for a vision based legged robot. To overcome this difficulty, three key issues are denoted: a) integration of color segmentation, optical flow and stereo, which is able to apply to vibrating view using correlation hardware, b) software servo loop implemented as a kernel module for the purpose of soft actuation, and c) smooth walking pattern generation using solid model and dynamics simulator. Furthermore, a quadruped legged robot “JROB-1” is developed as a platform for the research on perception-action coupling in intelligent behavior of robots
Keywords :
correlation methods; image segmentation; image sequences; intelligent control; legged locomotion; robot dynamics; robot vision; servomechanisms; stereo image processing; JROB-1; color segmentation; correlation hardware; dynamics simulator; intelligent behavior; optical flow; perception-action coupling; quadruped legged robot; smooth walking pattern generation; soft actuation; software servo loop; solid model simulator; stereo vision; vibration; view changing; vision-based legged robot; Image motion analysis; Intelligent robots; Kernel; Legged locomotion; Mobile robots; Optical sensors; Robot sensing systems; Robot vision systems; Servomechanisms; Solid modeling;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.724625
