Minami Asatani

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In this paper, we propose a floor sensing method using stereo cameras mounted on a biped robot. In the proposed method, we first determine multiple regions of interest (ROI) in a reference image from footstep positions up to several steps, scheduled by a current footstep plan. Then the 3D plane parameters of the floor with respect to each ROI are estimated(More)
A state-of-the-arts biped robot can take foot-steps such that its heels always overhang corner edges while ascending stairs, as humans naturally do. The overhanging footstep is advantageous in terms of relaxation of restrictions on gait planning. However, in a man-made environment without geometry information, the overhanging footstep requires the(More)
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