NDLI: A study on obstacle avoidance for stable walking of biped robots

Content Provider	IEEE Xplore Digital Library
Author	Yoo-Ki Cho Woo-Song Lee Eok-Gon Kim Sung-Hyun Han
Copyright Year	2011
Description	Author affiliation: Dept. of Advanced Eng., Graduate School, Kyungnam University, Changwon, Korea (Yoo-Ki Cho) \|\| Dae Young Co., Ltd., Geoje, Korea (Eok-Gon Kim) \|\| Division of Mechanical System and Automation Eng., Kyungnam University, Changwon, Korea (Sung-Hyun Han) \|\| Korea Institute of Science and Technology, Seoul, Korea (Woo-Song Lee)
Abstract	The autonomous mobility for the biped robot KU-ROBO in the home environment is realized base on the development of a small stereo vision system, the recognition of floor and obstacles using plane extraction. The terrain is represented in a robot centric coordinate system without making any structural assumptions about the surrounding world. And the representation of a terrain map based on these observations, robot motion, and the generation of a walking path on the terrain map. We therefore believe, our approach is well suited for many different a home environment where no a priori information about the environment is given. The limitation of our system is that the terrain has to contain enough texture in order to obtain reliable stereo data.
Starting Page	1104
Ending Page	1105
File Size	555278
Page Count	2
File Format	PDF
ISBN	9781457708350
ISSN	20937121
e-ISBN	9788993215038
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-10-26
Publisher Place	Korea (South)
Access Restriction	Subscribed
Rights Holder	ICROS
Subject Keyword	Humanoid Robot Robot kinematics Robot sensing systems Obstacle Avoidance Intelligent sensors Factory and Home Environment
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
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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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