A Hybrid Approach for Simultaneous Obstacle Avoidance and Stabilization of Dynamic Bipedal Walking using the Aldebaran Nao Robot
Ullrich C, Deitsch S, Gallwitz F (2015)
Publication Language: English
Publication Type: Conference contribution, Conference Contribution
Publication year: 2015
Publisher: IEEE
Edited Volumes: 2015 15th International Conference on Innovations for Community Services, I4CS 2015
Pages Range: 1-6
Event location: Nuremberg, Germany
ISBN: 978-1-4673-7327-2
DOI: 10.1109/I4CS.2015.7294493
Abstract
In this paper, we propose a monocular vision system for autonomous obstacle avoidance and simultaneous stabilization of dynamic bipedal walking using the Aldebaran Nao robot. In particular, we address the case where erroneous bipedal locomotion causes the robot to drift away from a planned trajectory over time. To eliminate drifting, we use hybrid control patterns. This results in an efficient, self-correcting system that does not require to alter the robot's world representation. We confirm the efficiency and accuracy of the proposed system in a set of experiments.
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How to cite
APA:
Ullrich, C., Deitsch, S., & Gallwitz, F. (2015). A Hybrid Approach for Simultaneous Obstacle Avoidance and Stabilization of Dynamic Bipedal Walking using the Aldebaran Nao Robot. In Proceedings of the 15th International Conference on Innovations for Community Services (I4CS) (pp. 1-6). Nuremberg, Germany, DE: IEEE.
MLA:
Ullrich, Christian, Sergiu Deitsch, and Florian Gallwitz. "A Hybrid Approach for Simultaneous Obstacle Avoidance and Stabilization of Dynamic Bipedal Walking using the Aldebaran Nao Robot." Proceedings of the 15th International Conference on Innovations for Community Services (I4CS), Nuremberg, Germany IEEE, 2015. 1-6.
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