Title :
Stair recognition with laser range scanning by limb mechanism robot “ASTERISK“
Author :
Theeravithayangkura, Chayooth ; Takubo, Tomohito ; Mae, Yasushi ; Arai, Tatsuo
Author_Institution :
Dept. of Syst. Innovation, Osaka Univ., Toyonaka
Abstract :
A stair recognition with laser range scanning for continuous stair climbing by limb mechanism ldquoASTERISKrdquo is proposed. In this research, laser range scanning is divided into rough scan for fast scanning, and precise scan for range scanning. We use 2D laser range finder attached with motor for 3D laser range scanning. As a result of the experiment, the robot could recognize a stair position and posture even it is located at the physical limitation of laser range finder which is 4 m and detect the actual stair up to 6 out of 10 steps which the height is about 5 times of ldquoASTERISKrdquo normal posture standing height.
Keywords :
laser ranging; mobile robots; object recognition; optical scanners; robot vision; 2D laser range finder; 3D laser range scanning; ASTERISK limb mechanism robot; continuous stair climbing robot; mobile robot; stair recognition; Biomimetics; Climbing robots; Crawlers; Humans; Laser theory; Leg; Legged locomotion; Mobile robots; Robot sensing systems; Technological innovation; Laser range finder; Limb mechanism robot; Recognition; Stair climbing robot;
Conference_Titel :
Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on
Conference_Location :
Bangkok
Print_ISBN :
978-1-4244-2678-2
Electronic_ISBN :
978-1-4244-2679-9
DOI :
10.1109/ROBIO.2009.4913121
