To increase the autonomy of a vision guided walking robot, perception must be controlled such that the humanoid is provided with sufficient information about its environment. This article outlines a modular task-specific and situation-dependent gaze control scheme which selects an optimal view direction allowing the goal-oriented acquisition of the relevant information. The basic idea of the approach rests upon maximization of the predicted visual information content of a view situation. For information management, a hybrid Extended Kalman Filter is proposed considering the peculiarities of legged locomotion. Specific view direction evaluation strategies for obstacle avoidance and self-localization tasks are formulated. For dealing with these conflicting objectives a decision strategy for situation-dependent view direction selection based on Utility Theory is presented. Several references to related published work on simulative validation and real-world experiments with different robot platforms are given. The results demonstrate the relevance and practicality of the proposed gaze control approach in the framework of a system for vision-guided humanoid walking.
Contents
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Requires Authentication UnlicensedGaze Control Strategy for Vision-Guided Humanoid Walking (Blickwinkelsteuerung für visuell geführtes humanoides Laufen)LicensedSeptember 25, 2009
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Requires Authentication UnlicensedAutonome Navigation mobiler Systeme in natürlichen Umgebungen durch die Integration von 3D-Laserdaten (Autonomous Navigation of Mobile Systems in Natural Environments by Integration of 3D Laser Range Data)LicensedSeptember 25, 2009
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Requires Authentication UnlicensedModellierung einer Direkt-Methanol-Brennstoffzelle (Modelling of a Direct-Methanol-Fuel-Cell)LicensedSeptember 25, 2009
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Requires Authentication UnlicensedEin Modellgestützter Prädiktiver Ansatz zur Regelung von Ladedruck und AGR-Rate beim Nutzfahrzeug-Dieselmotor (A Model based Attempt to Control Boost Pressure and EGR-Rate for a Heavy Duty Engine)LicensedSeptember 25, 2009
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Requires Authentication UnlicensedStationäre und dynamische Motorvermessung zur Auslegung von Steuerkennfeldern – Eine kurze Übersicht (Static and Dynamic Measurements of Combustion Engines for Optimization of Control Mappings – A Brief Survey)LicensedSeptember 25, 2009
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Requires Authentication UnlicensedVorstellung neuer AmtsinhaberLicensedSeptember 25, 2009
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Requires Authentication Unlicensed14. Workshop Fuzzy-Systeme und Computational IntelligenceLicensedSeptember 25, 2009
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Requires Authentication UnlicensedInternationales Wissenschaftliches Kolloquium in IlmenauLicensedSeptember 25, 2009
Issues in this Volume
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Issue 1212
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Issue 1111
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Issue 1010
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Issue 9
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Issue 88
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Issue 77
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Issue 66
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Issue 4-54-5
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Issue 33
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Issue 22
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Issue 11
Issues in this Volume
-
Issue 1212
-
Issue 1111
-
Issue 1010
-
Issue 9
-
Issue 88
-
Issue 77
-
Issue 66
-
Issue 4-54-5
-
Issue 33
-
Issue 22
-
Issue 11