Toward autonomous car driving by a humanoid robot: A sensor-based framework

Abstract : To achieve the complete car driving task with a humanoid robot, it is necessary to develop a set of basic action primitives, including: walking to the vehicle, manually controlling its commands (ignition, accelerator and steering), and moving with the whole-body, for car ingress/egress. In this paper, we propose an approach for realizing the central part of the complete task, consisting in driving the car along a road. The proposed method is composed of two main parts. First, a vision-based controller uses image features of the road, to provide the reference angle for the steering wheel. Second, an admittance controller allows the humanoid to safely rotate the steering wheel with its hands and realize the desired steering command. We present results from a car driving experience, by humanoid robot HRP-4, within a video game setup.
Type de document :
Communication dans un congrès
Humanoids, Nov 2014, Madrid, Spain. 14th IEEE-RAS International Conference on Humanoid Robots, pp.451-456, 2014, 〈10.1109/HUMANOIDS.2014.7041400〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01247234
Contributeur : Cherubini Andrea <>
Soumis le : mercredi 1 mars 2017 - 13:15:07
Dernière modification le : jeudi 24 mai 2018 - 15:59:24

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Antonio Paolillo, Andrea Cherubini, François Keith, Abderrahmane Kheddar, Marilena Vendittelli. Toward autonomous car driving by a humanoid robot: A sensor-based framework. Humanoids, Nov 2014, Madrid, Spain. 14th IEEE-RAS International Conference on Humanoid Robots, pp.451-456, 2014, 〈10.1109/HUMANOIDS.2014.7041400〉. 〈lirmm-01247234〉

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