Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
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<strong>Session</strong> WedFVT9 Fenix 1 <strong>Wednesday</strong>, <strong>October</strong> <strong>10</strong>, <strong>2012</strong>, 16:15–17:30<br />
Multi-modal Learning II<br />
Chair<br />
Co-Chair Shingo Shimoda, RIKEN<br />
17:25–17:30 WedFVT9.7<br />
NAO Walking Down a Ramp Autonomously<br />
Christian Lutz, Felix Atmanspacher,<br />
Armin Hornung, and Maren Bennewitz<br />
Dept. of Computer Science, University of Freiburg, Germany<br />
• We present a method to traverse<br />
ramps with humanoids using onboard<br />
vision and IMU sensors<br />
• Our NAO humanoid autonomously<br />
walks down a steep ramp of 2 m<br />
• Single statically stable steps on the<br />
ramp are learned with kinesthetic<br />
teaching<br />
• Start and end of the ramp are<br />
detected from straight lines in the<br />
camera image<br />
• The robot‘s orientation is inferred<br />
from the ramp inclination with roll<br />
and pitch angles of the IMU<br />
NAO on the ramp (top) and on-board camera<br />
images with detected lines (bottom)<br />
<strong>2012</strong> IEEE/RSJ International Conference on Intelligent Robots and Systems<br />
–183–