지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 대한전기학회 Journal of Electrical Engineering & Technology Journal of Electrical Engineering & Technology Vol.8 No.4
- 발행연도
- 2013.7
- 수록면
- 879 - 888 (10page)
이용수
이 논문의 연구 히스토리 (2)
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초록· 키워드
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This paper addresses the vision based local path planning system for obstacle avoidance. To handle the obstacles which exist beyond the field of view (FOV), we propose a Panoramic Environment Map (PEM) using the MDGHM-SIFT algorithm. Moreover, we propose a Complexity Measure (CM) and Fuzzy logic-based Avoidance Motion Selection (FAMS) system to enable a humanoid robot to automatically decide its own direction and walking motion when avoiding an obstacle. The CM provides automation in deciding the direction of avoidance, whereas the FAMS system chooses the avoidance path and walking motion, based on environment conditions such as the size of the obstacle and the available space around it. The proposed system was applied to a humanoid robot that we designed. The results of the experiment show that the proposed method can be effectively applied to decide the avoidance direction and the walking motion of a humanoid robot.
목차
Abstract
1. Introduction
2. Detailed Formats of Manuscript
3. Experimental Results
4. Conclusion
References
참고문헌 (16)
참고문헌 신청
M. Yagi. / 1999 / Biped Robot Locomotion in Scenes with Unknown Obstacles / Proceedings of IEEE International Conference on Robotics and Automation(ICRA) :375~380
J. J. Kuffner. / 2001 / Footstep Planning Among Obstacles for Biped Robots / Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS) :500~505
J. Chestnutt. / 2005 / Footstep Planning for the Honda ASIMO Humanoid / Proc. of the 2005 IEEE Inter-national Conference on Robotics and Automation :629~634
P. Michel. / 2005 / Visionguided humanoid footstep planning for dynamic environments / 5th IEEE-RAS International Conference on Humanoid Robots :13~18
O. Stasse. / 2009 / Strategies for Humanoid Robots to Dynamically Walk Over Large Obstacles / IEEE Transactions on Robotics 25(4):960~967
J. J. Kuffner. / 2001 / Footstep Planning Among Obstacles for Biped Robots / Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS) :500~505
J. Chestnutt. / 2005 / Footstep Planning for the Honda ASIMO Humanoid / Proc. of the 2005 IEEE Inter-national Conference on Robotics and Automation :629~634
P. Michel. / 2005 / Visionguided humanoid footstep planning for dynamic environments / 5th IEEE-RAS International Conference on Humanoid Robots :13~18
O. Stasse. / 2009 / Strategies for Humanoid Robots to Dynamically Walk Over Large Obstacles / IEEE Transactions on Robotics 25(4):960~967
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UCI(KEPA) : I410-ECN-0101-2014-500-003356452