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Biped Robot Walking Control using Image Processing
Stephen Karungaru,Masakazu Sugizaki,Minoru Fukumi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, a vision system for controlling an autonomous biped robot is presented. Robots need sensors to understand circumstances. There are several types of sensors. Recently, a camera is rapidly becoming the sensor of choice due to the remarkable improvement in computer technologye specially inprocessing power. However, there is the blurred image problem because of camera shake due to robot’s walking. Our method focuses on the use of image processing to control a human oid robot’s walking. We fixa camera on a biped robot, and input the images from the camera to PC for processing. The results of the image processing are sent to the robot for control immediately. The sereal-time image processing and control systems give us an efficient application on future robots. In the initial experiment the objective is to control robot walking up stairs.