Realization of obstacle avoidance by biped walking robot equipped with vision system

Donguk Shin, Atsuo Takanishi, T. Yoshigahara, S. Ohteru, T. Takeya, I. Kato

Research output: Contribution to journalConference articlepeer-review

2 Citations (Scopus)


A couple of eyes composed of two CCD cameras is installed on the biped walking robot WL-12RII-V (Waseda Leg-12 Refined II with Vision). It is possible for a biped walking robot to "avoid" an obstacle by stepping over it instead of detouring around it, if it is low enough for it to do so. In this paper, this type of obstacle avoidance is described with experimental results. The stepping-over experiments have been successful in almost all processes. The robot succeeds in walking on a flat floor at given velocity when it finds an obstacle (for example, a long 30x30[mm] cross section square timber can be used) in its way, the robot measures accurately its position and height while walking and then steps over it. Furthermore, not only the bending waist pattern for short-range-measurement but also the approach walking and cr6ss walking patterns for the execution of "stepping-over" are automatically designed by the robot. Thus, the WL-12RII-V autonomously has realized biped walking for avoiding an obstacle.

Original languageEnglish
Article number637918
Pages (from-to)268-275
Number of pages8
JournalIEEE International Conference on Intelligent Robots and Systems
Publication statusPublished - 1989 Jan 1
Event1989 IEEE/RSJ International Workshop on Intelligent Robots and Systems, IROS 1989 - Tsukuba, Japan
Duration: 1989 Sept 41989 Sept 6

ASJC Scopus subject areas

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


Dive into the research topics of 'Realization of obstacle avoidance by biped walking robot equipped with vision system'. Together they form a unique fingerprint.

Cite this