A Service Framework of Humanoid in Daily Life

Title
A Service Framework of Humanoid in Daily Life
Authors
김강건이지용김승수이중재정문호김창환유범재
Keywords
Task execution; Particle filter; Visual servoing; Human-like motion
Issue Date
2009-09
Publisher
LNCS (Lecture Notes in Computer Science)
Citation
VOL 5754, 501-511
Abstract
This paper presents a service framework of a humanoid robot for the coordinated task execution. To execute given tasks, various sub-systems of the robot need to be coordinated effectively. The goal of our paper is to develop the service framework which makes it possible to execute various tasks in daily life environments. A script is used as a tool for describing tasks to easily regulate actions of the sub-systems while the robot is performing the task. The performance of the presented framework is experimentally demonstrated as follows: A humanoid robot, as the platform of the task execution, recognizes the designated object. The object pose is calculated by performing model-based object tracking using a particle filter with back projection-based sampling. An approach proposed by Kim et al. [1] is used to solve a human-like arm inverse kinematics and then the control system generates smooth trajectories for each joint of the humanoid robot. The results of our implementation show the robot can execute the task efficiently in human workspaces, such as an office or home.
URI
http://pubs.kist.re.kr/handle/201004/35919
ISSN
03029743
Appears in Collections:
KIST Publication > Article
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE