NDLI: Localisation for Autonomous Humanoid Navigation

Content Provider	IEEE Xplore Digital Library
Author	Thompson, S. Kagami, S. Nishiwaki, K.
Copyright Year	2006
Description	Author affiliation: Digital Human Res. Center, National Inst. of Adv. Ind. Sci. & Technol., Koto (Thompson, S.; Kagami, S.; Nishiwaki, K.)
Abstract	Autonomous humanoid navigation in non-trivial environments requires high precision accuracy due to the difficulty in achieving stable bipedal locomotion. In particular, an accurate localisation estimate is needed to plan footstep placement on a narrow staircase. This paper reports the development of an accurate 6DOF particle filter based localisation system for a humanoid robot moving within a known 2.5 dimensional map. A laser range sensor mounted within the robot's head makes 120 degree planar scans of the environment up to a distance of 4 meters. Localisation accuracy is achieved by carefully characterising the robot's odometry model, introducing a novel motion model for particle prediction and decoupling the bounded and unbounded components of humanoid position uncertainty. The novel motion predicts a more accurate particle distribution by modeling the motion of a humanoid robot and including uncertainty in sampling time as well as position accuracy. In addition the reported system estimates the localisation uncertainty distribution and implements a model based gaze attraction behaviour to further reduce localisation error.
Starting Page	13
Ending Page	19
File Size	743042
Page Count	7
File Format	PDF
ISBN	1424401992
DOI	10.1109/ICHR.2006.321357
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-12-04
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Uncertainty Navigation Humanoid robots Predictive models Robot sensing systems Sampling methods Particle filters Sensor systems Mobile robots Orbital robotics
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
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in