Toward autonomous car driving by a humanoid robot-- A sensor-based framework
Toward autonomous car driving by a humanoid robot-- A sensor-based framework
复制标题
人形机器人实现自动驾驶汽车——基于传感器的框架
DOI：
10.1109/humanoids.2014.7041400
复制
发表时间：
2014
期刊：
影响因子：
--
通讯作者：
M. Vindetelli
中科院分区：
文献类型：
--
作者：
A. Paolillo;A. Cherubini;F. Keith;A. Kheddar;M. Vindetelli
为了实现完整的汽车驾驶任务与人形机器人，有必要开发一套基本的动作原语，包括：步行到车辆，手动控制其命令（点火，加速器和转向），并与整个身体移动，汽车进出。在本文中，我们提出了一种方法来实现完整的任务的中心部分，包括在驾驶汽车沿沿着一条道路。所提出的方法是由两个主要部分。首先，基于视觉的控制器使用道路的图像特征，为方向盘提供参考角度。第二，导纳控制器允许类人机器人用手安全地旋转方向盘，并实现期望的转向命令。我们目前的结果，从汽车驾驶经验，由类人机器人HRP-4，在视频游戏设置。
To achieve the complete car driving task with a humanoid robot, it is necessary to develop a set of basic action primitives, including: walking to the vehicle, manually controlling its commands (ignition, accelerator and steering), and moving with the whole-body, for car ingress/egress. In this paper, we propose an approach for realizing the central part of the complete task, consisting in driving the car along a road. The proposed method is composed of two main parts. First, a vision-based controller uses image features of the road, to provide the reference angle for the steering wheel. Second, an admittance controller allows the humanoid to safely rotate the steering wheel with its hands and realize the desired steering command. We present results from a car driving experience, by humanoid robot HRP-4, within a video game setup.