A sensor fusion technique using visual and ultrasonic information to acquire obstacle avoidance behaviors for quadruped robots

Kiyotaka Izumi, Keigo Watanabe, Masaaki Shindo, Ryoichi Sato

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

In this paper, an obstacle avoidance method is described for a quadruped walking robot by using camera image and ultrasonic sensors. A single camera is used to acquire the rough information of three-dimensional obstacle, while some ultrasonic sensors are used to obtain the accurate information of the obstacle. Thus, the obstacle is efficiently measured by combining these sensors properly. The effectiveness of the proposed method is verified for several experiments, in which TITAN-VIII is adopted as an experimental setup.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Pages5120-5125
Number of pages6
DOIs
Publication statusPublished - Dec 1 2006
Externally publishedYes
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: Oct 18 2006Oct 21 2006

Publication series

Name2006 SICE-ICASE International Joint Conference

Other

Other2006 SICE-ICASE International Joint Conference
CountryKorea, Republic of
CityBusan
Period10/18/0610/21/06

Keywords

  • Camera image
  • Obstacle avoidance
  • Quadruped walking robot
  • Ultrasonic sensors

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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