Humanoid Robot Navigation Based on Groping Locomotion Algorithm to Avoid an Obstacle
Humanoid Robot Navigation Based on Groping Locomotion Algorithm to Avoid an Obstacle
复制标题
基于摸索运动算法的仿人机器人避障导航
DOI：
10.5772/4682
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
M. Ohka
中科院分区：
文献类型：
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作者：
H. Yussof;M. Yamano;Y. Nasu;M. Ohka
类人机器人是具有基于人体外观的整体外观的机器人(Hirai等人，1998，Hirukawa等人，2004)。类人机器人被创造出来，是为了模仿人类每天所做的一些相同的身体和精神任务。由于它们的拟人化、对人类友好的设计和运动的适用性，它们适合在为人类而建的环境中与人类共存(Kaneko等人，2002)。目标是有一天类人机器人将能够理解人类的智力和理性，并像人类一样行事。如果类人机器人能够做到这一点，它们最终可能会与人类共存并一起工作，并可以充当人类的代理人，从事如果有选择的话，人类不会做的危险或肮脏的工作，从而为人类提供更多的安全、自由和时间。考虑到这类机器人将越来越多地参与人类环境，预计在不久的将来，人类和人形机器人的“工作共存”问题将变得尖锐。然而，人类环境不会为了适应类人生物的存在而进行重大调整，这一事实是可以预期的。最终，人类和机器人共享共同工作空间的“工作共存”将对具有机械控制结构的机器人施加至少两类任务：在有障碍物的特定环境中运动，以及从人类环境中操纵各种物体(Vukobratovic等人，2005年)。就这种工作共存而言，一个合适的导航系统是必要的，该系统将设计、传感元素、规划和控制嵌入到一个单一的集成系统中，以便类人机器人能够进一步适应以前仅供人类使用的环境。到目前为止，对类人机器人的研究已经到了这样一个地步：这种类型的机器人的构造和稳定似乎不再是关键问题。在这一阶段，机器人自主导航(Saera&Schmidt，2004，Tu&Baltes，2006)、远程机器人学(Sian et al.，2002)和智能传感器设备的开发(Omata et al.，2004)等新的实际应用正在被研究并引起极大的兴趣。步行机器人的自主导航需要解决三个主要任务：自我定位、避障和物体处理(Clerentin等人，2005年)。在目前的研究中，我们提出了一种基本的基于接触交互的导航系统，称为摸索运动，它能够定义机器人的自我定位和避障。该系统基于接触交互，目的是创建适用于
A humanoid robot is a robot with an overall appearance based on that of the human body (Hirai et al., 1998, Hirukawa et al., 2004). Humanoid robots are created to imitate some of the same physical and mental tasks that humans undergo daily. They are suitable to coexist with human in built-for-human environment because of their anthropomorphism, human friendly design and applicability of locomotion (Kaneko et al., 2002). The goal is that one day humanoid robots will be able to both understand human intelligence and reason and act like humans. If humanoids are able to do so, they could eventually coexist and work alongside humans and could act as proxies for humans to do dangerous or dirty work that would not be done by humans if there is a choice, hence providing humans with more safety, freedom and time. Bearing in mind that such robots will be increasingly more engaged in human’s environment, it is expected that the problem of “working coexistence” of humans and humanoid robots will become acute in the near future. However, the fact that no significant rearrangment of the human’s environment to accomodate the presence of humanoids can be expected. Eventually, the “working coexistence” of humans and robots sharing common workspaces will impose on robots with their mechanical-control structure at least two classes of tasks: motion in a specific environment with obstacles, and manipulating various objects from the human’s environment (Vukobratovic et al., 2005). As far as this working coexistence is concerned, a suitable navigation system combining design, sensing elements, planning and control embedded in a single integrated system is necessary so that humanoid robots can further “adapt” to the environment previously dedicated only to humans. To date, research on humanoid robots has arrived at a point where the construction and stabilization of this type of robot seems to be no longer the key issue. At this stage, it is novel practical applications such as autonomous robot navigation (Saera & Schmidt, 2004, Tu & Baltes, 2006), telerobotics (Sian et al., 2002) and development of intelligent sensor devices (Omata et al., 2004) that are being studied and attracting great interest. Autonomous navigation of walking robots requires that three main tasks be solved: self-localization, obstacle avoidance, and object handling (Clerentin et al., 2005). In current research, we proposed a basic contact interaction-based navigation system called “groping locomotion” on the humanoid robots capable of defining self-localization and obstacle avoidance. This system is based on contact interaction with the aim of creating suitable algorithms for
DOI：
10.1109/robot.2002.1014810
发表时间：
2002-05
期刊：
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)
影响因子：
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作者：
T. Kanda;H. Ishiguro;T. Ono;M. Imai;R. Nakatsu
通讯作者：
T. Kanda;H. Ishiguro;T. Ono;M. Imai;R. Nakatsu
连续人形交互:适应性、冗余性、灵活性合一的综合视角
DOI：
--
发表时间：
2001
期刊：
Robotics and Autonomous Systems vol.37,issues2-3
影响因子：
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作者：
G.Cheng;A.Nagakubo and Y.Kuniyoshi
通讯作者：
A.Nagakubo and Y.Kuniyoshi