Dependable Humanoid Navigation System Based on Bipedal Locomotion
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kang, Yeonsik | - |
dc.contributor.author | Kim, Hyunsoo | - |
dc.contributor.author | Ryu, Soo-Hyun | - |
dc.contributor.author | Doh, Nakju Lett | - |
dc.contributor.author | Oh, YongHwan | - |
dc.contributor.author | You, Bum-jae | - |
dc.date.accessioned | 2021-09-06T10:25:35Z | - |
dc.date.available | 2021-09-06T10:25:35Z | - |
dc.date.created | 2021-06-19 | - |
dc.date.issued | 2012-02 | - |
dc.identifier.issn | 0278-0046 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/106114 | - |
dc.description.abstract | In this paper, a dependable humanoid navigation system is proposed by considering many difficulties in humanoid navigation based on bipedal locomotion in an uncertain environment. In particular, we propose a layered architecture to resolve complicated problems through a hierarchical manner. Within the proposed software architecture, a walking path planner, a walking footstep planner, and a walking pattern generator are integrated in a hierarchy to create a reliablemotion that overcomes foot slippage and localization sensor noise. Each layer is designed to overcome difficulties originating from bipedal locomotion such as unstable dynamics, inclusion of a sinusoidal noise component in the localization sensor measurement, and disturbance regarding discrete footstepping. The designed navigation system is implemented on a human-sized experimental humanoid platform and is tested for the evaluation of its reliability and robustness in various tasks. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.subject | GENERATION | - |
dc.title | Dependable Humanoid Navigation System Based on Bipedal Locomotion | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Doh, Nakju Lett | - |
dc.identifier.doi | 10.1109/TIE.2011.2162709 | - |
dc.identifier.scopusid | 2-s2.0-80054825925 | - |
dc.identifier.wosid | 000296014800040 | - |
dc.identifier.bibliographicCitation | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v.59, no.2, pp.1050 - 1060 | - |
dc.relation.isPartOf | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | - |
dc.citation.title | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | - |
dc.citation.volume | 59 | - |
dc.citation.number | 2 | - |
dc.citation.startPage | 1050 | - |
dc.citation.endPage | 1060 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Instruments & Instrumentation | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.relation.journalWebOfScienceCategory | Instruments & Instrumentation | - |
dc.subject.keywordPlus | GENERATION | - |
dc.subject.keywordAuthor | Bipedal locomotion | - |
dc.subject.keywordAuthor | humanoid navigation | - |
dc.subject.keywordAuthor | localization | - |
dc.subject.keywordAuthor | software architecture | - |
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