Acquisition of obstacle avoidance behaviors for a quadruped robot using visual and ultrasonic sensors

Kiyotaka Izumi; Keigo Watanabe; Msaaki Shindo; Ryoichi Sato

doi:10.1109/ICARCV.2006.345078

Acquisition of obstacle avoidance behaviors for a quadruped robot using visual and ultrasonic sensors

Kiyotaka Izumi, Keigo Watanabe, Msaaki Shindo, Ryoichi Sato

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

3 Citations (Scopus)

Abstract

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. The quadruped robot can arrives at the target with repeat of these actions, The effectiveness of the presented method is verified through some experiments.

Original language	English
Title of host publication	9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06
DOIs	https://doi.org/10.1109/ICARCV.2006.345078
Publication status	Published - Dec 1 2006
Externally published	Yes
Event	9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06 - Singapore, Singapore Duration: Dec 5 2006 → Dec 8 2006

Publication series

Name	9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06

Other

Other	9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06
Country/Territory	Singapore
City	Singapore
Period	12/5/06 → 12/8/06

Keywords

Behavior selection
Obstacle avoidance
Quadruped robot
Sensor fusion

ASJC Scopus subject areas

Computer Science Applications
Computer Vision and Pattern Recognition
Control and Systems Engineering

Access to Document

10.1109/ICARCV.2006.345078

Cite this

Izumi, K., Watanabe, K., Shindo, M., & Sato, R. (2006). Acquisition of obstacle avoidance behaviors for a quadruped robot using visual and ultrasonic sensors. In 9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06 [4150420] (9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06). https://doi.org/10.1109/ICARCV.2006.345078

Acquisition of obstacle avoidance behaviors for a quadruped robot using visual and ultrasonic sensors. / Izumi, Kiyotaka; Watanabe, Keigo; Shindo, Msaaki et al.
9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06. 2006. 4150420 (9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06).

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

Izumi, K, Watanabe, K, Shindo, M & Sato, R 2006, Acquisition of obstacle avoidance behaviors for a quadruped robot using visual and ultrasonic sensors. in 9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06., 4150420, 9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06, 9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06, Singapore, Singapore, 12/5/06. https://doi.org/10.1109/ICARCV.2006.345078

Izumi K, Watanabe K, Shindo M, Sato R. Acquisition of obstacle avoidance behaviors for a quadruped robot using visual and ultrasonic sensors. In 9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06. 2006. 4150420. (9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06). doi: 10.1109/ICARCV.2006.345078

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abstract = "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. The quadruped robot can arrives at the target with repeat of these actions, The effectiveness of the presented method is verified through some experiments.",

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Acquisition of obstacle avoidance behaviors for a quadruped robot using visual and ultrasonic sensors

Abstract

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Keywords

ASJC Scopus subject areas

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