Experiments of Vision Guided Walking of Humanoid Robot, KHR-2
Abstract
This paper introduces an integration of vision system and a visual guided walking of humanoid robot as a its application. Two CCD cameras are installed in a head which has 6 DOFs in total. Eyes and neck have the pan and tilt mechanism to move the view direction freely. All joints are driven by DC servo motors. We developed the motor controller to move all joint axes of the head. Each CCD camera transmits the NTSC formatted images to a frame grabber witch is installed on a main computer continuously. And then, the frame grabber captures the image frames in the frequency of 10 ~ 15 Hz. For a basic study, we construct the visual processing algorithm so that the robot can always gaze a red light marker. Besides, we establish the strategy of combining non real-time visual information and real-time walking pattern. Finally, vision guided walking algorithm which enables the robot to follow the red light marker on foot, is tested experimentally by using a humanoid robot, KHR-2.
BibTeX
@conference{Kim-2005-16988,author = {Jung-Yup Kim and Ill-Woo Park and Jungho Lee and Jun-Ho Oh},
title = {Experiments of Vision Guided Walking of Humanoid Robot, KHR-2},
booktitle = {Proceedings of 5th IEEE-RAS International Conference on Humanoid Robots (Humanoids '05)},
year = {2005},
month = {December},
pages = {135 - 140},
}