Zusammenfassung
Eines der bisher wenig behandelten zentralen Forschungsziele beim technischen humanoiden Laufen ist die Realisierung zielorientierter, perzeptionsbasierter Laufbewegungen. In diesem Beitrag wird eine an das menschliche Vorbild angelehnte Regelungsarchitektur vorgestellt. Zur experimentellen Validierung von Sensorverarbeitungsalgorithmen und Verfahren zur zielorientierten Planung von Laufbewegungen wird eine Emulationsumgebung entwickelt, die die Bewegung einer virtuellen Laufmaschine simuliert. Der Beitrag stellt Bildverarbeitungsalgorithmen zur Perzeption eines Experimental-Szenarios, ein Schrittplanungsverfahren und experimentelle Ergebnisse zur Bestätigung dieser Verfahren vor.
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Lorch, O., Buss, M., Freyberger, F., Schmidt, G. (2000). Aspekte der bildverarbeitungsgestützten Lokomotion humanoider Laufmaschinen. In: Schmidt, G., Hanebeck, U., Freyberger, F. (eds) Autonome Mobile Systeme 1999. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-59708-4_3
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DOI: https://doi.org/10.1007/978-3-642-59708-4_3
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