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Recent Progress in Robotics: Viable Robotic Service to Human pp 371–383Cite as

Imitation of Walking Paths with a Low-Cost Humanoid Robot

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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 370))

Summary

The ability to follow specific and task-relevant paths is an essential feature for legged humanoid robots. In this paper, we describe a technique for programming walking paths for humanoid robots based on imitation. Demonstrated paths are synthesized as NURBS (Non Uniform Rational B-Spline), and can be adapted by the robot based on local and dynamic information. We report simple experiments performed with a Robosapien V2 low-cost humanoid toy which has been suitably enhanced to support imitation-based programming. We show that despite robot limitations rather complex navigational tasks can be achieved through visual guidance. The system combines inputs from multiple sensory devices, including a motion tracker and a monocular vision system for landmark recognition.

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Authors and Affiliations

  1. RIMLab - Robotics and Intelligent Machines Laboratory, Dipartimento di Ingegneria dell’Informazione, University of Parma, Italy

    Jacopo Aleotti & Stefano Caselli

Authors
  1. Jacopo Aleotti
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  2. Stefano Caselli
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Editor information

Sukhan Lee Il Hong Suh Mun Sang Kim

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© 2007 Springer-Verlag Berlin Heidelberg

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Aleotti, J., Caselli, S. (2007). Imitation of Walking Paths with a Low-Cost Humanoid Robot. In: Lee, S., Suh, I.H., Kim, M.S. (eds) Recent Progress in Robotics: Viable Robotic Service to Human. Lecture Notes in Control and Information Sciences, vol 370. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-76729-9_29

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  • DOI: https://doi.org/10.1007/978-3-540-76729-9_29

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76728-2

  • Online ISBN: 978-3-540-76729-9

  • eBook Packages: EngineeringEngineering (R0)

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