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In order to make humanoid robot walk freely in our environment we discretized humanoid robot's actions into a set of given actions and state space into grids. The environment map was built by use of stereo vision and the special method of plane segmentation. The shape of humanoid robot was simplified into double-cylinders model for the sake of checking obstacles. In the end a sequence of actions,...
In order that the humanoid robot can walk freely in the real world, include walking up and down stairs, climbing over small obstacle, we proposed a method for building a grid map of the robotpsilas surroundings. Each grid in the map is flagged with floor or obstacle and contains a value telling the height of the floor or obstacle. At first we use sensor data build and update 3D occupancy grid and...
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