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首页> 外文会议>5th Annual IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems >A humanoid robot localization method for biped navigation in human-living environments
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A humanoid robot localization method for biped navigation in human-living environments

机译：在人居环境中用于Biped导​​航的类人机器人定位方法

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In real-time footstep planning for the humanoid robot, it is needed to obtain the accurate location of its foot placements. However, existing methods only needed to obtain the localization of the robot as a particle, which did not specifically consider the localization of its foot placements. This paper presents foot placement localization method for humanoid robot in human-living environments. A Kinect sensor was first used to obtain the digital map of the global environment and the position and orientation of the head of the robot was then extracted. The position and orientation of the foot placement was then calculated based on the spatial geometric relationship between the head and the target foot. The proposed method was used in the real time footstep planning in dynamic human-living environments. Experimental results validated its feasibility.
机译：在拟人机器人的实时脚步计划中，需要获取其脚部位置的准确位置。但是，现有方法仅需要获取机器人作为粒子的位置，而没有专门考虑其脚部位置的位置。本文提出了一种在人居环境中仿人机器人脚部定位的方法。首先使用Kinect传感器获取全球环境的数字地图，然后提取机器人头部的位置和方向。然后，根据头部和目标脚之间的空间几何关系，计算脚的放置位置和方向。该方法被用于动态人居环境的实时足迹规划中。实验结果证明了其可行性。

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