A vision-based legged robot as a research platform
説明
View changing because of vibration while walking is one of the most fundamental problem for a vision based legged robot. To overcome this difficulty, three key issues are denoted: a) integration of color segmentation, optical flow and stereo, which is able to apply to vibrating view using correlation hardware, b) software servo loop implemented as a kernel module for the purpose of soft actuation, and c) smooth walking pattern generation using solid model and dynamics simulator. Furthermore, a quadruped legged robot "JROB-1" is developed as a platform for the research on perception-action coupling in intelligent behavior of robots.
収録刊行物
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- Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190)
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Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190) 1 235-240, 2002-11-27
IEEE