Integration of vision and central pattern generator based locomotion for path planning of a non-holonomic crawling humanoid robot

• Presented at: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, 18-22 Oct. 2010
• Published in: Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), p. 183 - 189
• Publication date: 2010

In this paper we present our work on integrating a locomotion controller based on central pattern generator (CPG) and a motion planning algorithm using artificial potential fields for a non-holonomic crawling humanoid robot, the iCub. We also integrated a vision tracker and an inverse kinematics solver to perform reaching tasks. We study the influence of the various parameters of the potential field equations on the performance of the system and prove the efficiency of our framework by testing it on a physics-based robotics simulator and partially on the real iCub.

Keywords: collision avoidance ; humanoid robots ; artificial potential field ; central pattern generator ; iCub ; path planning ; vision

Reference

• EPFL-CONF-164480
• doi:10.1109/IROS.2010.5648788

• URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5648788
• URL: http://www.youtube.com/watch?v=EYAxVpgee20

Record created on 2011-03-28, modified on 2012-05-22