http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
휴머노이드 로봇을 위한 비전기반 장애물 회피 시스템 개발
강태구(Tae-Koo Kang),김동원(Dongwon Kim),박귀태(Gwi-Tae Park) 대한전기학회 2011 전기학회논문지 Vol.60 No.1
This paper addresses the vision based autonomous walking control system. To handle the obstacles which exist beyond the field of view(FOV), we used the 3d panoramic depth image. Moreover, to decide the avoidance direction and walking motion of a humanoid robot for the obstacle avoidance by itself, we proposed the vision based path planning using 3d panoramic depth image. In the vision based path planning, the path and walking motion are decided under environment condition such as the size of obstacle and available avoidance space. The vision based path planning is applied to a humanoid robot, URIA. The results from these evaluations show that the proposed method can be effectively applied to decide the avoidance direction and the walking motion of a practical humanoid robot.