The autonomous mobility for the biped robot M-HUMAN in the home environment is realized base on the development of a small stereo vision system, the recognition of floor and obstacles using plane extraction. The terrain is represented in a robot centric coordinate system without making any structural assumptions about the surrounding world. And the representation of a terrain map based on these observations, robot motion, and the generation of a walking path on the terrain map. We therefore believe, our approach is well suited for many different a home environment where no a priori information about the environment is given. The limitation of our system is that the terrain has to contain enough texture in order to obtain reliable stereo data. © 2013 Springer-Verlag Berlin Heidelberg.
CITATION STYLE
Ki, W. S., Shim, B. K., Hwang, W. J., Kang, E. U., Lee, W. S., & Han, S. H. (2013). A stable walking control of two - Legs biped robot. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 8103 LNAI, pp. 265–273). Springer Verlag. https://doi.org/10.1007/978-3-642-40849-6_24
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