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

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

研究成果: Conference article査読

2 被引用数 (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.

ジャーナルIEEE International Conference on Intelligent Robots and Systems
出版ステータスPublished - 1989 1月 1
イベント1989 IEEE/RSJ International Workshop on Intelligent Robots and Systems, IROS 1989 - Tsukuba, Japan
継続期間: 1989 9月 41989 9月 6

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用


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