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ICRA
2005
IEEE

Whole Body Locomotion Planning of Humanoid Robots based on a 3D Grid Map

10 years 3 months ago
Whole Body Locomotion Planning of Humanoid Robots based on a 3D Grid Map
— This paper proposes a method for a humanoid robot to generate 3D model of the environment using a stereo vision, find a movable space using it and plan feasible locomotion online. The model is generated by an accumulation of 3D grid maps which are made from the range data of the field of view obtained by a correlation based stereo vision. The locomotion is planned by an online whole body pattern generator which can modify robot’s waist height, an upper body posture and so on according to the size of the movable space.
Fumio Kanehiro, Takashi Yoshimi, Shuuji Kajita, Mi
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Fumio Kanehiro, Takashi Yoshimi, Shuuji Kajita, Mitsuharu Morisawa, Kiyoshi Fujiwara, Kensuke Harada, Kenji Kaneko, Hirohisa Hirukawa, Fumiaki Tomita
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