The importance of gaze control mechanism on vision-based motion control of a biped robot

Shun Ushida, Kousuke Yoshimi, Takayuki Okatani, Koichiro Deguchi

研究成果: Conference contribution

14 被引用数 (Scopus)

抄録

We are motivated to deal with a biped robot by an existence of almighty powerful control mechanism of human. Although a visual information, in particular, plays important role in order to realize admirable intelligence in a humanoid robot, we must assert a vision to be one of the developing sensors. In fact, there are many difficulties of both aspects of restrictive hardware resources for a vision and real-time image processing for motor control. In this paper, we clarify a structure and a nature of a visual information processing system which should be equipped with a biped robot. For this purpose, a human eye structure and its movements, and brain motor control through a central nervous system are considered as an analogy with robotics. We shall show that a gaze control mechanism like human is absolutely indispensable for a vision system of a biped robot. Furthermore, we investigate considerable differences between the human eyes and the biped robot ones. This allows us to propose a new, simple and intuitively understandable criteria, called stably gazing scope, for evaluating gaze control performance in the sense of availability of visual information for robot motion control.

本文言語English
ホスト出版物のタイトル2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
ページ4447-4452
ページ数6
DOI
出版ステータスPublished - 2006 12月 1
イベント2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
継続期間: 2006 10月 92006 10月 15

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
国/地域China
CityBeijing
Period06/10/906/10/15

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

フィンガープリント

「The importance of gaze control mechanism on vision-based motion control of a biped robot」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル