DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Moon Young | ko |
dc.contributor.author | Kwon, Yong Sun | ko |
dc.contributor.author | Lee, Se Bin | ko |
dc.contributor.author | Choe, Jong Hun | ko |
dc.contributor.author | Park, Jun Yong | ko |
dc.contributor.author | Jeong, Hyo Bin | ko |
dc.contributor.author | Heo, Yu Jin | ko |
dc.contributor.author | Kim, Min-su | ko |
dc.contributor.author | Jo, Sung Ho | ko |
dc.contributor.author | Yoon, Sung-Eui | ko |
dc.contributor.author | Oh, Jun-Ho | ko |
dc.date.accessioned | 2021-11-05T06:40:45Z | - |
dc.date.available | 2021-11-05T06:40:45Z | - |
dc.date.created | 2021-10-26 | - |
dc.date.created | 2021-10-26 | - |
dc.date.created | 2021-10-26 | - |
dc.date.issued | 2021-09-29 | - |
dc.identifier.citation | 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), pp.4111 - 4117 | - |
dc.identifier.issn | 2153-0858 | - |
dc.identifier.uri | http://hdl.handle.net/10203/288875 | - |
dc.description.abstract | Vision aided dynamic exploration on bipedal robots poses an integrated challenge for perception and control. Rapid walking motions as well as the vibrations caused by the landing-foot contact-force introduce critical uncertainty in the visual-inertial system, which can cause the robot to misplace its feet placing on complex terrains and even fall over. In this paper, we present a streamlined integration of an efficient geometric footstep planner and the corresponding walking controller for a humanoid robot to dynamically walk across rough terrain at speeds up to 0.3 m/s. To handle perception uncertainty that arises during dynamic locomotion, we present a geometric safety scoring method in our footstep planner to optimally select feasible path candidates. In addition, the real-time performance of the perception pipeline allows for reactive locomotion such as generating a new corresponding swing leg trajectory in midgait if a sudden change in the terrain is detected. The proposed perception-control pipeline is evaluated and demonstrated with real experiments using a full-scale humanoid to traverse across various terrains. | - |
dc.language | English | - |
dc.publisher | IEEE Robotics and Automation Society / Robotics Society of Japan | - |
dc.title | Dynamic Humanoid Locomotion over Rough Terrain with Streamlined Perception-Control Pipeline | - |
dc.type | Conference | - |
dc.identifier.wosid | 000755125503032 | - |
dc.identifier.scopusid | 2-s2.0-85124369669 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 4111 | - |
dc.citation.endingpage | 4117 | - |
dc.citation.publicationname | 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021) | - |
dc.identifier.conferencecountry | CS | - |
dc.identifier.conferencelocation | ELECTR NETWORK | - |
dc.identifier.doi | 10.1109/IROS51168.2021.9636218 | - |
dc.contributor.localauthor | Jo, Sung Ho | - |
dc.contributor.localauthor | Yoon, Sung-Eui | - |
dc.contributor.localauthor | Oh, Jun-Ho | - |
dc.contributor.nonIdAuthor | Lee, Moon Young | - |
dc.contributor.nonIdAuthor | Kwon, Yong Sun | - |
dc.contributor.nonIdAuthor | Lee, Se Bin | - |
dc.contributor.nonIdAuthor | Choe, Jong Hun | - |
dc.contributor.nonIdAuthor | Park, Jun Yong | - |
dc.contributor.nonIdAuthor | Jeong, Hyo Bin | - |
dc.contributor.nonIdAuthor | Heo, Yu Jin | - |
dc.contributor.nonIdAuthor | Kim, Min-su | - |
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