3D vision based local obstacle avoidance method for humanoid robot

Do Young Lee, Yan Feng Lu, Tae Koo Kang, In Hwan Choi, Myo Taeg Lim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

In this paper, a 3D vision-based local obstacle avoidance system is designed and developed on a humanoid robot so that it can decide avoidance direction and walking motion effectively. We use a panorama environment map using speeded up robust feature (SURF) which is a robust image detector and descriptor to handle the obstacles which exist beyond the field of view. Moreover, we propose an avoidance direction decision method and a fuzzy logic based avoidance motion selection method. The robot decides the avoidance direction and avoidance walking motion for the obstacle by itself under information such as the size of objects and avoidance spaces. The proposed system is applied to the humanoid robot which we have built up with a Time of Flight camera. The results of the experiments show that the proposed method can be effectively applied to decide the avoidance direction and the walking motion.

Original languageEnglish
Title of host publicationInternational Conference on Control, Automation and Systems
Pages473-475
Number of pages3
Publication statusPublished - 2012 Dec 1
Event2012 12th International Conference on Control, Automation and Systems, ICCAS 2012 - Jeju, Korea, Republic of
Duration: 2012 Oct 172012 Oct 21

Other

Other2012 12th International Conference on Control, Automation and Systems, ICCAS 2012
CountryKorea, Republic of
CityJeju
Period12/10/1712/10/21

Fingerprint

Collision avoidance
Robots
Fuzzy logic
Cameras
Detectors
Experiments

Keywords

  • avoidance motion selection
  • geographical measurement
  • Humanoid robot
  • Obstacle avoidance

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Lee, D. Y., Lu, Y. F., Kang, T. K., Choi, I. H., & Lim, M. T. (2012). 3D vision based local obstacle avoidance method for humanoid robot. In International Conference on Control, Automation and Systems (pp. 473-475). [6393489]

3D vision based local obstacle avoidance method for humanoid robot. / Lee, Do Young; Lu, Yan Feng; Kang, Tae Koo; Choi, In Hwan; Lim, Myo Taeg.

International Conference on Control, Automation and Systems. 2012. p. 473-475 6393489.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Lee, DY, Lu, YF, Kang, TK, Choi, IH & Lim, MT 2012, 3D vision based local obstacle avoidance method for humanoid robot. in International Conference on Control, Automation and Systems., 6393489, pp. 473-475, 2012 12th International Conference on Control, Automation and Systems, ICCAS 2012, Jeju, Korea, Republic of, 12/10/17.
Lee DY, Lu YF, Kang TK, Choi IH, Lim MT. 3D vision based local obstacle avoidance method for humanoid robot. In International Conference on Control, Automation and Systems. 2012. p. 473-475. 6393489
Lee, Do Young ; Lu, Yan Feng ; Kang, Tae Koo ; Choi, In Hwan ; Lim, Myo Taeg. / 3D vision based local obstacle avoidance method for humanoid robot. International Conference on Control, Automation and Systems. 2012. pp. 473-475
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