Stair climbing for humanoid robots using stereo vision
- 1 April 2005
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 1407-1413 vol.2
- https://doi.org/10.1109/iros.2004.1389593
Abstract
For the fully autonomous navigation in a 3 dimensional world, a humanoid robot must be capable of stepping up and down staircases and other obstacle where a sufficient large flat surface can support the robot's feet. This paper presents methods for the recognition of stairs and a control architecture that enable the humanoid robot QRIO to safely climb up and down in its environment The approach is based on data captured by a stereo vision system and segmented into planar surfaces. From the segmented planes, stairs that can be climbed by the robot are extracted and fed to a control system which decides the action to be taken next. Experimental results on a staircase as well as climbing up and down a sill are presented.Keywords
This publication has 10 references indexed in Scilit:
- A small humanoid robot SDR-4X for entertainment applicationsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- A small biped entertainment robot exploring attractive applicationsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- Obstacle avoidance and path planning for humanoid robots using stereo visionPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- Reliable stair climbing in the simple hexapod 'RHex'Published by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Experiments in vision-guided biped walkingPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Multi-sensor, high speed autonomous stair climbingPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- The development of Honda humanoid robotPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Plane segment finder: algorithm, implementation and applicationsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- An experimental comparison of range image segmentation algorithmsIEEE Transactions on Pattern Analysis and Machine Intelligence, 1996
- Fast segmentation of range images into planar regions by scan line groupingMachine Vision and Applications, 1994