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

fYear

2009

fDate

22-25 Feb. 2009

Firstpage

915

Lastpage

920

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ROBIO.2009.4913121

Filename

4913121