Cooperative SLAM-based object transportation by two humanoid robots in a cluttered environment
| Autor: | Claudia Esteves, Wael Suleiman, Jean-Bernard Hayet, Antoine Rioux |
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| Přispěvatelé: | Université de Sherbrooke (UdeS), Department of Mathematics, Universidad de Guanajuato, Centro de Investigación en Matemáticas (CIMAT), Consejo Nacional de Ciencia y Tecnología [Mexico] (CONACYT) |
| Rok vydání: | 2015 |
| Předmět: |
0209 industrial biotechnology
Computer science Trajectory 02 engineering and technology Synchronization Robot kinematics [SPI.AUTO]Engineering Sciences [physics]/Automatic 020901 industrial engineering & automation Robot sensing systems 0202 electrical engineering electronic engineering information engineering [INFO]Computer Science [cs] Computer vision Visualization Robot locomotion business.industry Collision avoidance Mobile robot Object (computer science) Robot control Robot 020201 artificial intelligence & image processing Artificial intelligence business Humanoid robot |
| Zdroj: | Humanoids 15th IEEE International Conference on Humanoid Robots (Humanoids 2015) 15th IEEE International Conference on Humanoid Robots (Humanoids 2015), Nov 2015, Séoul, South Korea. pp.331-337, ⟨10.1109/HUMANOIDS.2015.7363563⟩ |
| Popis: | International audience; In this work, we tackle the problem of making two humanoid robots navigate in a cluttered environment while transporting a very large object that simply can not be moved by a single robot. We present a complete navigation scheme, from the incremental construction of a map of the environment and the computation of collision-free trajectories to the control to execute those trajectories. We present experiments conducted on real Nao robots, equipped with RGB-D sensors mounted on their heads, moving an object around obstacles. Our experiments show that a significantly large object can be transported without changing the robot's main hardware, and therefore enacting the capacity of humanoid robots in real-life situations. |
| Databáze: | OpenAIRE |
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