Vision-Guided Humanoid Walking Concepts and Experiments
TechnischeUniversität München · 2003
This paper presents key ideas ofa novel approach to per ception-basedbipedrobotwalking. Computervisiontechniquesareem ployedforreactiveadaptationofstepsequencesallowingarobottostep overorwalkaroundobstacles.Highprecisionvisualfeedbackisprovided by the combination ofline-basedscene analysis and real-time feature tracking. The proposed vision-based approachand therobot guidance systemwere evaluatedbyexperimentswiththehumanoidbipedJohn nie.