Abstract
The autonomous mobility for the biped robot M-HUMAN in the home environment is realized base on the development of a small stereo vision system, the recognition of floor and obstacles using plane extraction. The terrain is represented in a robot centric coordinate system without making any structural assumptions about the surrounding world. And the representation of a terrain map based on these observations, robot motion, and the generation of a walking path on the terrain map. We therefore believe, our approach is well suited for many different a home environment where no a priori information about the environment is given. The limitation of our system is that the terrain has to contain enough texture in order to obtain reliable stereo data.
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Ki, W.S., Shim, B.K., Hwang, W.J., Kang, E.U., Lee, W.S., Han, S.H. (2013). A Stable Walking Control of Two – Legs Biped Robot. In: Lee, J., Lee, M.C., Liu, H., Ryu, JH. (eds) Intelligent Robotics and Applications. ICIRA 2013. Lecture Notes in Computer Science(), vol 8103. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40849-6_24
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DOI: https://doi.org/10.1007/978-3-642-40849-6_24
Publisher Name: Springer, Berlin, Heidelberg
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