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A method that estimates a foot landing state at a designated landing place from a point cloud of an uneven surface or rough terrain is proposed. The method geometrically searches for the stable pose of the foot and outputs not only the position and orientation but also the shape of the support polygon of the stable foot. The experimental results using point clouds obtained by simulation and real sensing...
The 3D shape measurement of a cloth is indispensable for a robot to autonomously handle the cloth. When a humanoid hangs a large cloth using its arm, the cloth is very close to its head and extends across a very wide field of view. A normal stereo camera mounted on the humanoid robot's head cannot capture the whole shape; however, a fisheye stereo can. Because the cloth is very close to the stereo...
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