DRC-hubo walking on rough terrains
DRC-hubo walking on rough terrains
复制标题
DRC-hubo 在崎岖的地形上行走
DOI：
--
复制
发表时间：
2014
期刊：
影响因子：
--
通讯作者：
P. Oh
中科院分区：
文献类型：
--
作者：
Hongfei Wang;Yuan F. Zheng;Youngbum Jun;P. Oh
到目前为止，类人机器人的设计主要是为了在平面上行走。在未来，需要人形机器人来代替人类在自然或受损的人为环境中工作。在2013年DARPA机器人挑战赛中，机器人被要求通过几种崎岖的地形。在这种情况下，机器人在行走时将面临保持平衡和完成任务的挑战。我们已经开发了几个平衡步态和相关的控制器。后者与计算机视觉系统合作，使我们的人形机器人DRC-Hubo能够在崎岖的地形上行走。给出了理论和实验结果来验证该方法。
Up to now humanoid robots have been designed primarily for walking on flat surfaces. In the future, humanoid robots are required to replace human beings to operate in natural or damaged man-engineered environments. In the 2013 DARPA Robotics Challenge, the robots are required to walk through several type of rough terrains. In this scenario, the robot will be challenged to keep balance and fulfill the tasks while walking. We have developed several balance gaits and associated controllers. The latter collaborate with a computer vision system to enable our humanoid robot DRC-Hubo to walk over rough terrains. Both theoretical and experimental results are presented to verify the approach.