휴머노이드 로봇을 위한 비전기반 장애물 회피 시스템 개발
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 강태구 | - |
dc.contributor.author | 김동원 | - |
dc.contributor.author | 박귀태 | - |
dc.date.accessioned | 2021-09-07T18:30:26Z | - |
dc.date.available | 2021-09-07T18:30:26Z | - |
dc.date.created | 2021-06-17 | - |
dc.date.issued | 2011 | - |
dc.identifier.issn | 1975-8359 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/114012 | - |
dc.description.abstract | This paper addresses the vision based autonomous walking control system. To handle the obstacles which exist beyond the field of view(FOV), we used the 3d panoramic depth image. Moreover, to decide the avoidance direction and walking motion of a humanoid robot for the obstacle avoidance by itself, we proposed the vision based path planning using 3d panoramic depth image. In the vision based path planning, the path and walking motion are decided under environment condition such as the size of obstacle and available avoidance space. The vision based path planning is applied to a humanoid robot, URIA. The results from these evaluations show that the proposed method can be effectively applied to decide the avoidance direction and the walking motion of a practical humanoid robot. | - |
dc.language | Korean | - |
dc.language.iso | ko | - |
dc.publisher | 대한전기학회 | - |
dc.title | 휴머노이드 로봇을 위한 비전기반 장애물 회피 시스템 개발 | - |
dc.title.alternative | Development of Vision based Autonomous Obstacle Avoidance System for a Humanoid Robot | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | 강태구 | - |
dc.contributor.affiliatedAuthor | 박귀태 | - |
dc.identifier.bibliographicCitation | 전기학회논문지, v.60, no.1, pp.161 - 166 | - |
dc.relation.isPartOf | 전기학회논문지 | - |
dc.citation.title | 전기학회논문지 | - |
dc.citation.volume | 60 | - |
dc.citation.number | 1 | - |
dc.citation.startPage | 161 | - |
dc.citation.endPage | 166 | - |
dc.type.rims | ART | - |
dc.identifier.kciid | ART001515682 | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.subject.keywordAuthor | Obstacle avoidance | - |
dc.subject.keywordAuthor | Humanoid robot | - |
dc.subject.keywordAuthor | Vision system | - |
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