Obstacle Avoidance in Groping Locomotion of a Humanoid Robot
This paper describes the development of an autonomous obstacle-avoidance method that operates in conjunction with groping locomotion on the humanoid robot Bonten-Maru II. Present studies on groping locomotion consist of basic research in which humanoid robot recognizes its surroundings by touching a...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2008-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Subjects: | |
| Online Access: | http://www.intechopen.com/articles/show/title/obstacle_avoidance_in_groping_locomotion_of_a_humanoid_robot |
| _version_ | 1819055129311051776 |
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| author | Masahiro Ohka Kazuhisa Mitobe Yasuo Nasu Mitsuhiro Yamano Hanafiah Yussof |
| author_facet | Masahiro Ohka Kazuhisa Mitobe Yasuo Nasu Mitsuhiro Yamano Hanafiah Yussof |
| author_sort | Masahiro Ohka |
| collection | DOAJ |
| description | This paper describes the development of an autonomous obstacle-avoidance method that operates in conjunction with groping locomotion on the humanoid robot Bonten-Maru II. Present studies on groping locomotion consist of basic research in which humanoid robot recognizes its surroundings by touching and groping with its arm on the flat surface of a wall. The robot responds to the surroundings by performing corrections to its orientation and locomotion direction. During groping locomotion, however, the existence of obstacles within the correction area creates the possibility of collisions. The objective of this paper is to develop an autonomous method to avoid obstacles in the correction area by applying suitable algorithms to the humanoid robot's control system. In order to recognize its surroundings, six-axis force sensors were attached to both robotic arms as end effectors for force control. The proposed algorithm refers to the rotation angle of the humanoid robot's leg joints due to trajectory generation. The algorithm relates to the groping locomotion via the measured groping angle and motions of arms. Using Bonten-Maru II, groping experiments were conducted on a wall's surface to obtain wall orientation data. By employing these data, the humanoid robot performed the proposed method autonomously to avoid an obstacle present in the correction area. Results indicate that the humanoid robot can recognize the existence of an obstacle and avoid it by generating suitable trajectories in its legs. |
| first_indexed | 2024-12-21T13:02:36Z |
| format | Article |
| id | doaj.art-34dff68a60cf4e4fbe1f1977f93f52c9 |
| institution | Directory Open Access Journal |
| issn | 1729-8806 1729-8814 |
| language | English |
| last_indexed | 2024-12-21T13:02:36Z |
| publishDate | 2008-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-34dff68a60cf4e4fbe1f1977f93f52c92022-12-21T19:03:08ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88061729-88142008-11-0123Obstacle Avoidance in Groping Locomotion of a Humanoid RobotMasahiro OhkaKazuhisa MitobeYasuo NasuMitsuhiro YamanoHanafiah YussofThis paper describes the development of an autonomous obstacle-avoidance method that operates in conjunction with groping locomotion on the humanoid robot Bonten-Maru II. Present studies on groping locomotion consist of basic research in which humanoid robot recognizes its surroundings by touching and groping with its arm on the flat surface of a wall. The robot responds to the surroundings by performing corrections to its orientation and locomotion direction. During groping locomotion, however, the existence of obstacles within the correction area creates the possibility of collisions. The objective of this paper is to develop an autonomous method to avoid obstacles in the correction area by applying suitable algorithms to the humanoid robot's control system. In order to recognize its surroundings, six-axis force sensors were attached to both robotic arms as end effectors for force control. The proposed algorithm refers to the rotation angle of the humanoid robot's leg joints due to trajectory generation. The algorithm relates to the groping locomotion via the measured groping angle and motions of arms. Using Bonten-Maru II, groping experiments were conducted on a wall's surface to obtain wall orientation data. By employing these data, the humanoid robot performed the proposed method autonomously to avoid an obstacle present in the correction area. Results indicate that the humanoid robot can recognize the existence of an obstacle and avoid it by generating suitable trajectories in its legs.http://www.intechopen.com/articles/show/title/obstacle_avoidance_in_groping_locomotion_of_a_humanoid_robothumanoid robotautonomous obstacle-avoidance methodgroping locomotionsix-axis force sensortrajectory generation. |
| spellingShingle | Masahiro Ohka Kazuhisa Mitobe Yasuo Nasu Mitsuhiro Yamano Hanafiah Yussof Obstacle Avoidance in Groping Locomotion of a Humanoid Robot International Journal of Advanced Robotic Systems humanoid robot autonomous obstacle-avoidance method groping locomotion six-axis force sensor trajectory generation. |
| title | Obstacle Avoidance in Groping Locomotion of a Humanoid Robot |
| title_full | Obstacle Avoidance in Groping Locomotion of a Humanoid Robot |
| title_fullStr | Obstacle Avoidance in Groping Locomotion of a Humanoid Robot |
| title_full_unstemmed | Obstacle Avoidance in Groping Locomotion of a Humanoid Robot |
| title_short | Obstacle Avoidance in Groping Locomotion of a Humanoid Robot |
| title_sort | obstacle avoidance in groping locomotion of a humanoid robot |
| topic | humanoid robot autonomous obstacle-avoidance method groping locomotion six-axis force sensor trajectory generation. |
| url | http://www.intechopen.com/articles/show/title/obstacle_avoidance_in_groping_locomotion_of_a_humanoid_robot |
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