Interactive biped locomotion based on visual/auditory information

Yu Ogura; Yusuke Sugahara; Yoshiharu Kaneshima; Naoki Hieda; Hun Ok Lim; Atsuo Takanishi

doi:10.1109/ROMAN.2002.1045631

Interactive biped locomotion based on visual/auditory information

Yu Ogura, Yusuke Sugahara, Yoshiharu Kaneshima, Naoki Hieda, Hun Ok Lim, Atsuo Takanishi

School of Creative Science and Engineering

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

17 Citations (Scopus)

Abstract

This paper describes an interactive locomotion method for a biped humanoid robot. The method consists of two main parts: a pattern generator and a human-robot interface. The human robot interface is used to achieve realtime interactive locomotion. In particular, visual information and voice instructions are employed to determine locomotion parameters such as a step length, a step direction, and the number of steps. The motion of the lower-limbs is generated by the online pattern generator based on the locomotion parameters. Continuous locomotion experiments are carried out in real time using WABIAN-RV. The experimental results show the feasibility of the proposed interactive locomotion method.

Original language	English
Title of host publication	IEEE ROMAN 2002 - 11th IEEE International Workshop on Robot and Human Interactive Communication, Proceedings
Pages	253-258
Number of pages	6
DOIs	https://doi.org/10.1109/ROMAN.2002.1045631
Publication status	Published - 2002 Dec 1
Event	11th IEEE International Workshop on Robot and Human Interactive Communication, IEEE ROMAN 2002 - Berlin, Germany Duration: 2002 Sept 25 → 2002 Sept 27

Publication series

Name	Proceedings - IEEE International Workshop on Robot and Human Interactive Communication

Conference

Conference	11th IEEE International Workshop on Robot and Human Interactive Communication, IEEE ROMAN 2002
Country/Territory	Germany
City	Berlin
Period	02/9/25 → 02/9/27

ASJC Scopus subject areas

Software
Artificial Intelligence
Human-Computer Interaction

Access to Document

10.1109/ROMAN.2002.1045631

Cite this

Ogura, Y., Sugahara, Y., Kaneshima, Y., Hieda, N., Lim, H. O., & Takanishi, A. (2002). Interactive biped locomotion based on visual/auditory information. In IEEE ROMAN 2002 - 11th IEEE International Workshop on Robot and Human Interactive Communication, Proceedings (pp. 253-258). Article 1045631 (Proceedings - IEEE International Workshop on Robot and Human Interactive Communication). https://doi.org/10.1109/ROMAN.2002.1045631

Interactive biped locomotion based on visual/auditory information. / Ogura, Yu; Sugahara, Yusuke; Kaneshima, Yoshiharu et al.
IEEE ROMAN 2002 - 11th IEEE International Workshop on Robot and Human Interactive Communication, Proceedings. 2002. p. 253-258 1045631 (Proceedings - IEEE International Workshop on Robot and Human Interactive Communication).

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

Ogura, Y, Sugahara, Y, Kaneshima, Y, Hieda, N, Lim, HO & Takanishi, A 2002, Interactive biped locomotion based on visual/auditory information. in IEEE ROMAN 2002 - 11th IEEE International Workshop on Robot and Human Interactive Communication, Proceedings., 1045631, Proceedings - IEEE International Workshop on Robot and Human Interactive Communication, pp. 253-258, 11th IEEE International Workshop on Robot and Human Interactive Communication, IEEE ROMAN 2002, Berlin, Germany, 02/9/25. https://doi.org/10.1109/ROMAN.2002.1045631

Ogura Y, Sugahara Y, Kaneshima Y, Hieda N, Lim HO, Takanishi A. Interactive biped locomotion based on visual/auditory information. In IEEE ROMAN 2002 - 11th IEEE International Workshop on Robot and Human Interactive Communication, Proceedings. 2002. p. 253-258. 1045631. (Proceedings - IEEE International Workshop on Robot and Human Interactive Communication). doi: 10.1109/ROMAN.2002.1045631

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Interactive biped locomotion based on visual/auditory information

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