TY - GEN
T1 - A sensor fusion technique using visual and ultrasonic information to acquire obstacle avoidance behaviors for quadruped robots
AU - Izumi, Kiyotaka
AU - Watanabe, Keigo
AU - Shindo, Masaaki
AU - Sato, Ryoichi
PY - 2006/12/1
Y1 - 2006/12/1
N2 - In this paper, an obstacle avoidance method is described for a quadruped walking robot by using camera image and ultrasonic sensors. A single camera is used to acquire the rough information of three-dimensional obstacle, while some ultrasonic sensors are used to obtain the accurate information of the obstacle. Thus, the obstacle is efficiently measured by combining these sensors properly. The effectiveness of the proposed method is verified for several experiments, in which TITAN-VIII is adopted as an experimental setup.
AB - In this paper, an obstacle avoidance method is described for a quadruped walking robot by using camera image and ultrasonic sensors. A single camera is used to acquire the rough information of three-dimensional obstacle, while some ultrasonic sensors are used to obtain the accurate information of the obstacle. Thus, the obstacle is efficiently measured by combining these sensors properly. The effectiveness of the proposed method is verified for several experiments, in which TITAN-VIII is adopted as an experimental setup.
KW - Camera image
KW - Obstacle avoidance
KW - Quadruped walking robot
KW - Ultrasonic sensors
UR - http://www.scopus.com/inward/record.url?scp=34250726063&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34250726063&partnerID=8YFLogxK
U2 - 10.1109/SICE.2006.315378
DO - 10.1109/SICE.2006.315378
M3 - Conference contribution
AN - SCOPUS:34250726063
SN - 8995003855
SN - 9788995003855
T3 - 2006 SICE-ICASE International Joint Conference
SP - 5120
EP - 5125
BT - 2006 SICE-ICASE International Joint Conference
T2 - 2006 SICE-ICASE International Joint Conference
Y2 - 18 October 2006 through 21 October 2006
ER -