Experiments in vision-guided biped walking
Experiments in vision-guided biped walking
复制标题
视觉引导双足步行实验
DOI：
10.1109/irds.2002.1041642
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
G. Schmidt
中科院分区：
文献类型：
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作者：
O. Lorch;A. Albert;J. Denk;Marc Gerecke;R. Cupec;J. Seara;W. Gerth;G. Schmidt
以目标为导向的视觉引导双足运动需要感知和行走之间的高度协调。如何建立这种协调仍然是一个基本的问题，很少研究在腿机器人。本文通过介绍视觉引导双足运动的最新结果，概述了我们在这一领域的一些研究。在双足机器人BARt-UH上对所提出的制导控制方法进行了实验验证。介绍了感知技术如何应用于步行机器人的步长序列自适应和运动控制。
Goal-oriented vision-guided biped locomotion requires a high degree of coordination between perception and walking. How to establish this coordination remains a fundamental and rarely studied problem in legged robotics. Some of our investigations into this field are outlined in this article by presenting recent results in vision-guided biped locomotion. The guidance and control approaches developed are experimentally validated on the biped robot BARt-UH. It is shown how perception techniques are employed in closed-loop for step sequence adaptation and locomotion control of a walking machine.