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

Volume

3

fYear

2002

fDate

2002

Firstpage

2557

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on

Print_ISBN

0-7803-7398-7

Type

conf

DOI

10.1109/IRDS.2002.1041655

Filename

1041655