Cart (Loading....) | Create Account
Close category search window
 

Fuzzy Integral-Based Gaze Control Architecture Incorporated With Modified-Univector Field-Based Navigation for Humanoid Robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Jeong-Ki Yoo ; Dept. of Electr. Eng. & Comput. Sci., KAIST, Daejeon, South Korea ; Jong-Hwan Kim

When a humanoid robot moves in a dynamic environment, a simple process of planning and following a path may not guarantee competent performance for dynamic obstacle avoidance because the robot acquires limited information from the environment using a local vision sensor. Thus, it is essential to update its local map as frequently as possible to obtain more information through gaze control while walking. This paper proposes a fuzzy integral-based gaze control architecture incorporated with the modified-univector field-based navigation for humanoid robots. To determine the gaze direction, four criteria based on local map confidence, waypoint, self-localization, and obstacles, are defined along with their corresponding partial evaluation functions. Using the partial evaluation values and the degree of consideration for criteria, fuzzy integral is applied to each candidate gaze direction for global evaluation. For the effective dynamic obstacle avoidance, partial evaluation functions about self-localization error and surrounding obstacles are also used for generating virtual dynamic obstacle for the modified-univector field method which generates the path and velocity of robot toward the next waypoint. The proposed architecture is verified through the comparison with the conventional weighted sum-based approach with the simulations using a developed simulator for HanSaRam-IX (HSR-IX).

Published in:

Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on  (Volume:42 ,  Issue: 1 )

Date of Publication:

Feb. 2012

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.