Name
Abstract | ||
|---|---|---|
This paper presents work on integrating perception and motion-planning for a humanoid robot to ingress, or enter, a small utility vehicle as a precursor to driving, a stage in the recent DARPA Robotics Challenge (DRC). Using a Hubo 2+ robot platform and a pair of RGB-D cameras, we describe a set of approaches to and present results on the first four phases of ingress: (1) visually search for the vehicle's doorway as a target to walk toward, (2) plan and execute a collision-free approach to the doorway via walking using visual odometry, (3) make visually-guided fine positioning adjustments near the entry door during docking, and (4) step from the ground up to the floor of the vehicle. All recognition is done on 3-D point clouds derived from the depth cameras without appearance information. Some further ingress results from the DRC-Hubo making use of grasping are also shown. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/TePRA.2014.6869159 | Technologies for Practical Robot Applications |
Keywords | Field | DocType |
cameras,collision avoidance,control engineering computing,distance measurement,humanoid robots,image colour analysis,robot vision,solid modelling,vehicles,3d point clouds,darpa robotics challenge,drc,hubo 2+ robot platform,rgb-d cameras,collision-free approach,depth cameras,docking,driving,entry door,humanoid robot,humanoid vehicle ingress,motion-planning,small utility vehicle,vehicle doorway,visual odometry,visually-guided fine positioning adjustments,walking | Computer vision,Visual odometry,Computer science,RGB color model,Artificial intelligence,Robot,Point cloud,HUBO,Robotics,Humanoid robot | Conference |
ISSN | Citations | PageRank |
2325-0526 | 1 | 0.35 |
References | Authors | |
19 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Christopher Rasmussen | 1 | 576 | 62.94 |
| Kiwon Sohn | 2 | 24 | 4.63 |
| Karthikeyan Yuvraj | 3 | 1 | 0.35 |
| Paul Y. Oh | 4 | 289 | 51.08 |