Humanoid Robot LOLA walks over an unexpected platform
Published on Jan 14, 2017
Vision-Based Autonomous Walking over Platforms or Stairs.
- Our vision system uses a kinect-like sensor to model the environment: surfaces (including the ground) are modelled as polygons and obstacles as SSV's (swept-sphere volumes).
- Our motion planning system uses a modified A* search algorithm to find footsteps locations on walkable surfaces and each step's parameters are optimized to account for kinematic capabilities.
Everything is running in real-time
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