Sway Motion Cancellation Scheme Using a RGB-D Camera-Based Vision System for Humanoid Robots
When a humanoid robot walks dynamically, it generates sway motion which is reflected as an oscillative sine wave-like pattern at its center-of-mass (CoM) trajectory. In order to cancel out such motion from the coordinates of detected obstacles, this paper proposes a sway motion cancellation scheme incorporated with walking pattern generator of humanoid robots along with a RGB-D camera-based vision system. After the preprocessing for the depth information from the RGB-D camera using attitude reference system (ARS)-generated roll and pitch angles of the vision module, the coordinates of detected obstacles are estimated using the ground filtered 3D points. Then, the sway motion cancellation scheme is applied to the coordinates of detected obstacles not only for the lateral direction of the robot but also for the sagittal one by referring the CoM trajectory collected from the walking pattern generator. The proposed sway motion cancellation scheme and the RGB-D camera-based vision system are verified by experiments using a small-sized humanoid robot, HanSaRam-IX (HSR-IX).
KeywordsHumanoid robot navigation sway motion cancellation depth camera-based vision module RGB-D sensor
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