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Online Humanoid Walking Control and 3D Vision-based Locomotion

  • Koichi Nishiwaki
  • Satoshi Kagami
  • James J. Kuffner
  • Kei Okada
  • Yasuo Kuniyoshi
  • Masayuki Inaba
  • Hirochika Inoue
Conference paper
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 5)

Abstract

Autonomous locomotion is one of the most important capabilities for humanoid robots operating within human environments. We present a walking control system that follows a given desired motion online using a layered control architecture, and implemented as a basic system of autonomous walking. A moving goal tracking function and reactive obstacle avoidance functions are implemented together with a stereo vision system, forming higher layer components of an autonomous locomotion system. Experiments using these layers are shown as basic examples of autonomous locomotion control.

Keywords

Humanoid Robot Stereo Vision Step Cycle Biped Robot World Coordinate System 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2003

Authors and Affiliations

  • Koichi Nishiwaki
    • 1
  • Satoshi Kagami
    • 2
  • James J. Kuffner
    • 3
  • Kei Okada
    • 1
  • Yasuo Kuniyoshi
    • 1
  • Masayuki Inaba
    • 1
  • Hirochika Inoue
    • 1
  1. 1.Department of Mechano-InformaticsUniversity of TokyoTokyoJapan
  2. 2.Digital Human Lab. National Institute of Advanced Industrial Science and Technology & CREST ProgramJapan Science and Technology Corp.TokyoJapan
  3. 3.Robotics InstituteCarnegie Mellon UniversityPittsburghUSA

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