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  1. A500 情報学部/情報学研究科・情報文化学部・情報科学研究科
  2. A500a 雑誌掲載論文
  3. 学術雑誌

Development of a Contact Interaction-Based Navigation Strategy for a Biped Humanoid Robot

http://hdl.handle.net/2237/9507
http://hdl.handle.net/2237/9507
ff9b2165-2dde-4d24-b0d2-9f3b83b1fb50
名前 / ファイル ライセンス アクション
ohka_4.pdf ohka_4.pdf (1.6 MB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2008-02-28
タイトル
タイトル Development of a Contact Interaction-Based Navigation Strategy for a Biped Humanoid Robot
言語 en
著者 Yussof, Hanafiah

× Yussof, Hanafiah

WEKO 22099

en Yussof, Hanafiah

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Yamano, Mitsuhiro

× Yamano, Mitsuhiro

WEKO 22100

en Yamano, Mitsuhiro

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Ohka, Masahiro

× Ohka, Masahiro

WEKO 22101

en Ohka, Masahiro

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Nasu, Yasuo

× Nasu, Yasuo

WEKO 22102

en Nasu, Yasuo

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アクセス権
アクセス権 open access
アクセス権URI http://purl.org/coar/access_right/c_abf2
権利
言語 en
権利情報 Copyright © 2007 IEEE. Reprinted from (relevant publication info). This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of Nagoya University’s products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org.
抄録
内容記述 This paper presents the development of a contact interaction-based navigation strategy for a biped humanoid robot with the aim of supporting current visual-based navigation. The robot arms are equipped with force sensors to detect physical contact with objects. We proposed a motion algorithm consisting of searching tasks, self-localization, correction of locomotion direction and obstacle avoidance. Priority is given to right-side direction to navigate the robot locomotion in conjunction with a strategy to avoid obstacles. The proposed algorithm is evaluated in an experiment with a humanoid robot operating in a room with walls and obstacles. The experimental results reveal good performance of the robot when recognizing objects by touching and grasping, continuously generating suitable trajectory to correct locomotion direction and avoiding collisions.
言語 en
内容記述タイプ Abstract
出版者
言語 ja
出版者 IEEE
言語
言語 eng
資源タイプ
資源タイプresource http://purl.org/coar/resource_type/c_6501
タイプ journal article
出版タイプ
出版タイプ VoR
出版タイプResource http://purl.org/coar/version/c_970fb48d4fbd8a85
DOI
関連タイプ isVersionOf
識別子タイプ DOI
関連識別子 https://doi.org/10.1109/IROS.2007.4399347
ISBN
関連タイプ isPartOf
識別子タイプ ISBN
関連識別子 978-1-4244-0912-9
書誌情報 en : IEEE/RSJ International Conference on Intelligent Robots and Systems

p. 4241-4246, 発行日 2007
フォーマット
application/pdf
著者版フラグ
値 publisher
URI
識別子 http://hdl.handle.net/2237/9507
識別子タイプ HDL
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