Online 3D vision, motion planning and bipedal locomotion control coupling system of humanoid robot: H7

IEEE International Conference on Intelligent Robots and Systems

Volumn 3, Issue , 2002, Pages 2557-2562

  Kagami, Satoshi ^a   Nishiwaki, Koichi ^b   Kuffner Jr , James J ^a   Kuniyoshi, Yasuo ^b   Inaba, Masayuki ^b   Inoue, Hirochika ^b  

^a NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY AIST   (Japan)

^b UNIVERSITY OF TOKYO   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER VISION; MOTION CONTROL; MOTION PLANNING; SYSTEMS ANALYSIS;

BIPEDAL LOCOMOTION CONTROL COUPLING SYSTEM; HUMANOID ROBOT;

INTELLIGENT ROBOTS;

EID: 0036452427     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (18)

1. K. Nagasaka, M. Inaba, and H. Inoue. Walking Pattern Generation for a Humanoid Robot based on Optimal Gradient Method. In Proc. of 1999 IEEE Int. Conf. on Systems, Man, and Cybernetics No. VI, 1999.
2. K. Nishiwaki, K. Nagasaka, M. Inaba, and H. Inoue. Generation of reactive stepping motion for a humanoid by dynamically stable mixture of pre-designed motions. In Proc. of 1999 IEEE Int. Conf. on Systems, Man, and Cybernetics No. VI, pp. 702-707, 1999.
3. S. KAGAMI, F. KANEHIRO, Y. TAMIYA, M. INABA, and H. INOUE. AutoBalancer: An Online Dynamic Balance Compensation Scheme for Humanoid Robots, pp. 329-340. A K Peters, Ltd., 2001. 1-56881-125-X.
4. J.J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue. Motion planning for humanoid robots under obstacle and dynamic balance constraints. In Proc. IEEE Int'l Conf. on Robotics and Automation (ICRA'2001), pp. 692-698, 2001.
5. K. NISHIWAKI, T. SUGIHARA, S. KAGAMI, M. INABA, and H. INOUE. Realtime generation of humanoid walking trajectory by mixture and connection of predesigned motions - online control by footprint specification -. In Proc. of International Conference on Robotics and Automation (ICRA '01), pp. 4110-4115, 2001.
6. S. KAGAMI, J.J. KUFFNER, K. NISHIWAKI, T. SUGIHARA, T. MICHIKATA, T. AOYAMA, M. INABA, and H. INOUE. Design and implementation of remotely operation interface for humanoid robot. In Proc. of International Conference on Robotics and Automation (ICRA '01), pp. 401-406, 2001.
7. V. Yodaiken and M. Barabanov. RT-Linux. http://www.rtlinux.org.
8. Ken'ichirou NAGASAKA, Masayuki INABA, and Hirochika INOUE. Stabilization of Dynamic Walk on a Humanoid Using Torso Position Compliance Control. In Proceedings of 17th Annual Conference on Robotics Society of Japan, pp. 1193-1194, 1999.
9. Honda Co. Ltd. Walking Control System for Legged Robot. Japan Patent Office (A) 5-305583, 1993.
10. Honda Co. Ltd. Walking Control System for Legged Robot. Japan Patent Office (A) 5-200682, 1993.
11. Honda Co. Ltd. Walking Pattern Generation System for Legged Robot. Japan Paten Office (A) 10-86080, 1998.
12. S. KAGAMI, K. NISHIWAKI, T. KITAGAWA, T. SUGIHARA, M. INABA, and H. INOUE. A fast generation method of a dynamically stable humanoid robot trajectory with enhanced zmp constraint. In Proc. of IEEE International Conference on Humanoid Robotics (Humanoid2000), 2000.
13. S. KAGAMI, K. OKADA, M. INABA, and H. INOUE. Design and implementation of onbody real-time depthmap generation system. In Proc. of International Conference on Robotics and Automation (ICRA'00), pp. 1441-1446, 2000.
14. S. KAGAMI, K. OKADA, M. INABA, and H. INOUE. Real-time 3d optical flow generation system. In Proc. of International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI'99), pp. 237-242, 1999.
15. S. Kagami, K. Okada, M. Inaba, and H. Inoue. Plane segment finder. In Fifth Robotics Symposia, pp. 381-386, 2000.
16. Steven M. LaValle and James J. Kuffner Jr. Rapidly-exploring random trees: Progress and prospects. In Proc. of Fourth Intl. Workshop on Algorithmic Foundations on Robotics (WAFR'00), 2000.
17. J. J. Kuffner, S. KAGAMI, M. INABA, and H. INOUE. Dynamically-stable motion planning for humanoid robots. In Proc. of IEEE International Conference on Humanoid Robotics (Humanoid2000), 2000.
18. J.J. Kuffner and S.M. LaValle. RRT-Connect: An efficient approach to single-query path planning. In Proc. IEEE Int'l Conf. on Robotics and Automation (ICRA'2000), San Francisco, CA, April 2000.