Gabaret, Jonathan (2015) Footstep planning for a humanoid robot using visually reconstructed terrain. DLR-Interner Bericht. DLR-IB-RM-OP-2016-160. Master's. Hochschule Darmstadt. 73 S.
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Abstract
This master’s thesis presents a footstep planning for a humanoid robot with perception and pro cessing of the visual information. Our approach consists of two main parts. First, the processing and the segmentation of the data from RGB-D cameras identify the ground and other planes where the robot can possibly step on. Then, methods such as pose estimation and 3D reconstruction are used to build a map of the environment. Second, we study and integrate the reachability map, which represents the kinematically feasible configurations to a path planning algorithm. The method has been implemented for the DLR humanoid robot TORO on the simulation using two walking methods. The first method uses the Divergent Component of Motions on a Linear Inverted Pendulum model with a feedback controller to generate the trajectory of the robot. The second method uses the multi-contact planner and controller approach which computes the center of mass position and the trajectories of the end-effectors. The results on simulation demonstrate the robustness and the suitability of our footstep planning approach.
Item URL in elib: | https://elib.dlr.de/109760/ | ||||||
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Document Type: | Monograph (DLR-Interner Bericht, Master's) | ||||||
Title: | Footstep planning for a humanoid robot using visually reconstructed terrain | ||||||
Authors: |
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Date: | November 2015 | ||||||
Refereed publication: | No | ||||||
Open Access: | No | ||||||
Gold Open Access: | No | ||||||
In SCOPUS: | No | ||||||
In ISI Web of Science: | No | ||||||
Number of Pages: | 73 | ||||||
Status: | Accepted | ||||||
Keywords: | humanoid robots, motion planning | ||||||
Institution: | Hochschule Darmstadt | ||||||
Department: | Fachbereich Elektrotechnik und Informationstechnik | ||||||
HGF - Research field: | Aeronautics, Space and Transport | ||||||
HGF - Program: | Space | ||||||
HGF - Program Themes: | Space System Technology | ||||||
DLR - Research area: | Raumfahrt | ||||||
DLR - Program: | R SY - Space System Technology | ||||||
DLR - Research theme (Project): | R - On-Orbit Servicing [SY] | ||||||
Location: | Oberpfaffenhofen | ||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation | ||||||
Deposited By: | Roa Garzon, Dr. Máximo Alejandro | ||||||
Deposited On: | 20 Dec 2016 10:30 | ||||||
Last Modified: | 20 Dec 2016 10:30 |
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