Foot landing state estimation from point cloud at a landing place
作者： Nobuyuki Kita , Mitsuharu Morisawa , Fumio Kanehiro
DOI: 10.1109/HUMANOIDS.2013.7029984
关键词:
摘要: A method that estimates a foot landing state at designated place from point cloud of an uneven surface or rough terrain is proposed. The geometrically searches for the stable pose and outputs not only position orientation but also shape support polygon foot. experimental results using clouds obtained by simulation real sensing are evaluated. proposed can perform important role walking HRP-2 in simulation.
sci-hub.se 参考文章(7)
Gerard Medioni, James Weiland, Vivek Pradeep, Piecewise Planar Modeling for Step Detection using Stereo Vision ,(2008)
Mitsuharu Morisawa, Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kanako Miura, Kazuhiro Yokoi, Balance control based on Capture Point error compensation for biped walking on uneven terrain 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012). pp. 734- 740 ,(2012) , 10.1109/HUMANOIDS.2012.6651601
Nobuyuki Kita, Direct floor height measurement for biped walking robot by fisheye stereo ieee-ras international conference on humanoid robots. pp. 187- 192 ,(2011) , 10.1109/HUMANOIDS.2011.6100893
Orazio Gallo, Roberto Manduchi, Abbas Rafii, CC-RANSAC: Fitting planes in the presence of multiple surfaces in range data Pattern Recognition Letters. ,vol. 32, pp. 403- 410 ,(2011) , 10.1016/J.PATREC.2010.10.009
Koichi Nishiwaki, Joel Chestnutt, Satoshi Kagami, Autonomous navigation of a humanoid robot over unknown rough terrain using a laser range sensor The International Journal of Robotics Research. ,vol. 31, pp. 1251- 1262 ,(2012) , 10.1177/0278364912455720
Joel Chestnutt, Satoshi Kagami, Koichi Nishiwaki, James Kuffner, Planning Biped Navigation Strategies in Complex Environments ,(2003)
J.-S. Gutmann, M. Fukuchi, M. Fujita, A Floor and Obstacle Height Map for 3D Navigation of a Humanoid Robot international conference on robotics and automation. pp. 1066- 1071 ,(2005) , 10.1109/ROBOT.2005.1570257