| A humanoid robot localization method for biped navigation in human-living environment | |
| Huang Li; Zeyang Xia; Jing Xiong; Yangzhou Gan; Shaokui Weng; Ying Hu; Jianwei Zhang Ruiqing Fu; Xinyu Wu; Jianquan Sun; Huiwen Guo | |
| 2015 | |
| 会议名称 | IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems |
| 会议地点 | Shenyang |
| 英文摘要 | In the real-time footstep planning of the humanoid robot, it is needed to estimate the accurate position of footstep.However, most existing robot localization methods just involved the localization of the robot by regarding it as one point and did not consider the localization of footstep. This paper presents a visual based footstep localization method for humanoid robot in human-living environments. A visual sensor was used to obtain the global map of the environment and extract the position and direction of the head of robot. The position of the footstep was then estimated from the spatial geometric relationship between the head and foot. Experimental results verified the feasibility of the proposed footstep localization method. |
| 收录类别 | EI |
| 语种 | 英语 |
| 内容类型 | 会议论文 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/6740]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2015 |
| 推荐引用方式 GB/T 7714 | Huang Li,Zeyang Xia,Jing Xiong,et al. A humanoid robot localization method for biped navigation in human-living environment[C]. 见:IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems. Shenyang. |
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