Interactive biped locomotion based on visual/auditory information
Interactive biped locomotion based on visual/auditory information
复制标题
基于视觉/听觉信息的交互式双足运动
DOI：
10.1109/roman.2002.1045631
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
A. Takanishi
中科院分区：
文献类型：
--
作者：
Y. Ogura;Y. Sugahara;Y. Kaneshima;N. Hieda;Hun;A. Takanishi
介绍了一种双足类人机器人的交互运动方法。该方法主要由两部分组成：模式生成器和人机界面。采用人机界面实现实时交互运动。具体而言，利用视觉信息和语音指令来确定步长、步向和步数等运动参数。下肢的运动由基于运动参数的在线模式生成器生成。利用WABIAN-RV进行实时连续运动实验。实验结果表明了所提出的交互运动方法的可行性。
This paper describes an interactive locomotion method for a biped humanoid robot. The method consists of two main parts: a pattern generator and a human-robot interface. The human robot interface is used to achieve real-time interactive locomotion. In particular, visual information and voice instructions are employed to determine locomotion parameters such as step length, step direction, and the number of steps. The motion of the lower-limbs is generated by the online pattern generator based on the locomotion parameters. Continuous locomotion experiments are carried out in real time using WABIAN-RV. The experimental results show the feasibility of the proposed interactive locomotion method.