Online Humanoid Locomotion Control by using 3D Vision Information
نویسندگان
چکیده
Autonomous locomotion is one of the most important ability for humanoid utilized in human working environment. Walking control system that follows the desired motion given online is designed with layered control architecture and implemented as a basic system of autonomous walking. Moving goal tracking function and reactive obstacle avoidance function are implemented using stereo vision system as higher layers of the walking control system. Experiments using these layers are shown as basic examples of autonomous locomotion control system.
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