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Development of a Contact Interaction-Based Navigation Strategy for a Biped Humanoid Robot
http://hdl.handle.net/2237/9507
http://hdl.handle.net/2237/9507ff9b2165-2dde-4d24-b0d2-9f3b83b1fb50
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
ohka_4.pdf (1.6 MB)
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| 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× Yamano, Mitsuhiro× Ohka, Masahiro× 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 | ||||||
| 内容記述タイプ | Abstract | |||||
| 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 | |||||
| 出版者 | ||||||
| 出版者 | IEEE | |||||
| 言語 | ja | |||||
| 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 |
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| フォーマット | ||||||
| 値 | 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 | |||||
