Title :
Online 3D vision, motion planning and bipedal locomotion control coupling system of humanoid robot: H7
Author :
Kagami, Satoshi ; Nishiwaki, Koichi ; Kuffner, James J., Jr. ; Kuniyoshi, Yasuo ; Inaba, Masayuki ; Inoue, Hirochika
Author_Institution :
Digital Human Lab., Nat. Inst. of Adv. Ind. Sci. & Technol., Tokyo, Japan
Abstract :
This paper describes the design of an integrated system for humanoid robotics that consists of three key components, 3D vision, motion planning and bipedal control. Layered system design is adopted to achieve concurrency as well as small latency. Implementation using our humanoid type robot H7 and experiments with this architecture are described. The H7 is expected to be a common test-bed in experiments and discussion for various aspects of intelligent humanoid robotics.
Keywords :
concurrency control; control system CAD; legged locomotion; path planning; robot vision; H7 humanoid robot; bipedal control; bipedal locomotion control coupling system; concurrency; integrated system; intelligent humanoid robotics; latency; layered system design; motion planning; online 3D vision; Backplanes; Connectors; Control systems; Humanoid robots; Humans; Intelligent robots; Motion control; Motion planning; Robot sensing systems; Robot vision systems;
Conference_Titel :
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7398-7
DOI :
10.1109/IRDS.2002.1041655
