Name
Abstract | ||
|---|---|---|
Autonomous humanoid navigation in non-trivial enviromnents requires high precision accuracy due to the difficulty in achieving stable bipedal locomotion. In particular, an accurate localisation estimate is needed to plan footstep placement on a narrow staircase. This paper reports the development of an accurate 6DOF particle filter based localisation system for a humanoid robot moving within a known 2.5 dimensional map. A laser range sensor mounted within the robot's head makes 120 degree planar scans of the environment up to a distance of 4 meters. Localisation accuracy is achieved by carefully characterising the robot's odometry model, introducing a novel motion model for particle prediction and decoupling the bounded and unbounded components of humanoid position uncertainty. The novel motion predicts a more accurate particle distribution by modeling the motion of a humanoid robot and including uncertainty in sampling time as well as position accuracy. In addition the reported system estimates the localisation uncertainty distribution and implements a model based gaze attraction behaviour to further reduce localisation error. |
Year | DOI | Venue |
|---|---|---|
2006 | 10.1109/ICHR.2006.321357 | 2006 6TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS, VOLS 1 AND 2 |
Keywords | DocType | ISSN |
motion control,humanoid robot,navigation,humanoid robots,bipedal locomotion,particle filter | Conference | 2164-0572 |
Citations | PageRank | References |
9 | 0.73 | 11 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Simon G. Thompson | 1 | 113 | 16.66 |
| Satoshi KAGAMI | 2 | 1285 | 160.65 |
| Koichi Nishiwaki | 3 | 9 | 0.73 |