NDLI: Detecting surface features during locomotion using optic flow

Content Provider	IEEE Xplore Digital Library
Author	Lewis, M.A.
Copyright Year	2002
Description	Author affiliation: Iguana Robotics Inc., Mahomet, IL, USA (Lewis, M.A.)
Abstract	We test the hypothesis that: (1) Optic flow can be used to detect significant environmental features during locomotion in a biped, even given significant up and down movement and jarring of the robot during locomotion. (2) Reliable detection is only possible if a prediction of the expected optic flow field is made at each instance. This prediction should be driven by the phase of the robot's gait as well as other information about the state of the robot. (3) This prediction can be accomplished in a distributed, biologically plausible framework. Our results using a walking biped mechanism strongly support this hypothesis and indicate that optic flow is a viable strategy and that the prediction of optic flow is a critical component in this behavior.
Sponsorship	IEEE Robotics & Autom. Soc
Starting Page	305
Ending Page	310
File Size	677279
Page Count	6
File Format	PDF
ISBN	0780372727
DOI	10.1109/ROBOT.2002.1013378
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-05-11
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computer vision Image motion analysis Biomedical optical imaging Optical sensors Robot kinematics Legged locomotion Robot sensing systems Optical devices Optical control Testing
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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