Experiments of vision guided walking of humanoid robot, KHR-2

Jung Yup Kim; Ill Woo Park; Jungho Lee; Jun Ho Oh

doi:10.1109/ICHR.2005.1573558

Experiments of vision guided walking of humanoid robot, KHR-2

Jung Yup Kim, Ill Woo Park, Jungho Lee, Jun Ho Oh

Dept. of Mechanical System and Design Engineering

Korea Advanced Institute of Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

26 Scopus citations

Abstract

This paper introduces an integration of vision system and a visual guided walking of humanoid robot as a its application. Two CCD cameras are installed in a head which has 6 DOFs in total. Eyes and neck have the pan and tilt mechanism to move the view direction freely. All joints are driven by DC servo motors. We developed the motor controller to move all joint axes of the head. Each CCD camera transmits the NTSC formatted images to a frame grabber witch is installed on a main computer continuously. And then, the frame grabber captures the image frames in the frequency of 10 ∼ 15 Hz. For a basic study, we construct the visual processing algorithm so that the robot can always gaze a red light marker. Besides, we establish the strategy of combining non real-time visual information and real-time walking pattern. Finally, vision guided walking algorithm which enables the robot to follow the red light marker on foot, is tested experimentally by using a humanoid robot, KHR-2.

Original language	English
Title of host publication	Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots
Pages	135-140
Number of pages	6
DOIs	https://doi.org/10.1109/ICHR.2005.1573558
State	Published - 2005
Event	2005 5th IEEE-RAS International Conference on Humanoid Robots - Tsukuba, Japan Duration: 5 Dec 2005 → 7 Dec 2005

Publication series

Name	Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots
Volume	2005

Conference

Conference	2005 5th IEEE-RAS International Conference on Humanoid Robots
Country/Territory	Japan
City	Tsukuba
Period	5/12/05 → 7/12/05

Keywords

Humanoid robot
KHR-2
Vision
Walking guidance

Access to Document

10.1109/ICHR.2005.1573558

Cite this

@inproceedings{00af96fa94a348c6a6c8977b0a87e991,

title = "Experiments of vision guided walking of humanoid robot, KHR-2",

abstract = "This paper introduces an integration of vision system and a visual guided walking of humanoid robot as a its application. Two CCD cameras are installed in a head which has 6 DOFs in total. Eyes and neck have the pan and tilt mechanism to move the view direction freely. All joints are driven by DC servo motors. We developed the motor controller to move all joint axes of the head. Each CCD camera transmits the NTSC formatted images to a frame grabber witch is installed on a main computer continuously. And then, the frame grabber captures the image frames in the frequency of 10 ∼ 15 Hz. For a basic study, we construct the visual processing algorithm so that the robot can always gaze a red light marker. Besides, we establish the strategy of combining non real-time visual information and real-time walking pattern. Finally, vision guided walking algorithm which enables the robot to follow the red light marker on foot, is tested experimentally by using a humanoid robot, KHR-2.",

keywords = "Humanoid robot, KHR-2, Vision, Walking guidance",

author = "Kim, \{Jung Yup\} and Park, \{Ill Woo\} and Jungho Lee and Oh, \{Jun Ho\}",

year = "2005",

doi = "10.1109/ICHR.2005.1573558",

language = "English",

isbn = "0780393201",

series = "Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots",

pages = "135--140",

booktitle = "Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots",

note = "2005 5th IEEE-RAS International Conference on Humanoid Robots ; Conference date: 05-12-2005 Through 07-12-2005",

}

Kim, JY, Park, IW, Lee, J & Oh, JH 2005, Experiments of vision guided walking of humanoid robot, KHR-2. in Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots., 1573558, Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots, vol. 2005, pp. 135-140, 2005 5th IEEE-RAS International Conference on Humanoid Robots, Tsukuba, Japan, 5/12/05. https://doi.org/10.1109/ICHR.2005.1573558

Experiments of vision guided walking of humanoid robot, KHR-2. / Kim, Jung Yup; Park, Ill Woo; Lee, Jungho et al.
Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots. 2005. p. 135-140 1573558 (Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Experiments of vision guided walking of humanoid robot, KHR-2

AU - Kim, Jung Yup

AU - Park, Ill Woo

AU - Lee, Jungho

AU - Oh, Jun Ho

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N2 - This paper introduces an integration of vision system and a visual guided walking of humanoid robot as a its application. Two CCD cameras are installed in a head which has 6 DOFs in total. Eyes and neck have the pan and tilt mechanism to move the view direction freely. All joints are driven by DC servo motors. We developed the motor controller to move all joint axes of the head. Each CCD camera transmits the NTSC formatted images to a frame grabber witch is installed on a main computer continuously. And then, the frame grabber captures the image frames in the frequency of 10 ∼ 15 Hz. For a basic study, we construct the visual processing algorithm so that the robot can always gaze a red light marker. Besides, we establish the strategy of combining non real-time visual information and real-time walking pattern. Finally, vision guided walking algorithm which enables the robot to follow the red light marker on foot, is tested experimentally by using a humanoid robot, KHR-2.

AB - This paper introduces an integration of vision system and a visual guided walking of humanoid robot as a its application. Two CCD cameras are installed in a head which has 6 DOFs in total. Eyes and neck have the pan and tilt mechanism to move the view direction freely. All joints are driven by DC servo motors. We developed the motor controller to move all joint axes of the head. Each CCD camera transmits the NTSC formatted images to a frame grabber witch is installed on a main computer continuously. And then, the frame grabber captures the image frames in the frequency of 10 ∼ 15 Hz. For a basic study, we construct the visual processing algorithm so that the robot can always gaze a red light marker. Besides, we establish the strategy of combining non real-time visual information and real-time walking pattern. Finally, vision guided walking algorithm which enables the robot to follow the red light marker on foot, is tested experimentally by using a humanoid robot, KHR-2.

KW - Humanoid robot

KW - KHR-2

KW - Vision

KW - Walking guidance

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M3 - Conference contribution

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T3 - Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots

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BT - Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots

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ER -

Experiments of vision guided walking of humanoid robot, KHR-2

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Keywords

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