DocumentCode :
2481372
Title :
Stair climbing for humanoid robots using stereo vision
Author :
Gutmann, Jens-Steffan ; Fukuchi, Masaki ; Fujita, Masahiro
Author_Institution :
Intelligent Syst. Res. Laboratory, Sony Corp., Tokyo, Japan
Volume :
2
fYear :
2004
fDate :
28 Sept.-2 Oct. 2004
Firstpage :
1407
Abstract :
For the fully autonomous navigation in a 3 dimensional world, a humanoid robot must be capable of stepping up and down staircases and other obstacle where a sufficient large flat surface can support the robot´s feet. This paper presents methods for the recognition of stairs and a control architecture that enable the humanoid robot QRIO to safely climb up and down in its environment The approach is based on data captured by a stereo vision system and segmented into planar surfaces. From the segmented planes, stairs that can be climbed by the robot are extracted and fed to a control system which decides the action to be taken next. Experimental results on a staircase as well as climbing up and down a sill are presented.
Keywords :
collision avoidance; humanoid robots; image segmentation; legged locomotion; object recognition; robot vision; stereo image processing; QRIO humanoid robot; control system; fully autonomous navigation; planar surface segmentation; stair climbing; stair recognition; stereo vision system; Cameras; Control systems; Data mining; Humanoid robots; Intelligent robots; Legged locomotion; Navigation; Robot sensing systems; Robot vision systems; Stereo vision;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
Type :
conf
DOI :
10.1109/IROS.2004.1389593
Filename :
1389593
Link To Document :
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