論文

査読有り
2015年4月

What kind of floor am I standing on? Floor surface identification by a small humanoid robot through full-body motions

ADVANCED ROBOTICS
  • Reo Matsumura
  • ,
  • Masahiro Shiomi
  • ,
  • Takahiro Miyashita
  • ,
  • Hiroshi Ishiguro
  • ,
  • Norihiro Hagita

29
7
開始ページ
469
終了ページ
480
記述言語
英語
掲載種別
研究論文(学術雑誌)
DOI
10.1080/01691864.2014.996601
出版者・発行元
TAYLOR & FRANCIS LTD

This study addresses a floor identification method for small humanoid robots that work in such daily environments as homes. The fundamental difficulty lays in a method to understand the physical properties of floors. To achieve floor identification with small humanoid robots, we used inertial sensors that can be easily installed on such robots, and dynamically selected a full-body motion that physically senses floors to achieve accurate floor identification. We collected a training data-set over 10 different kinds of common floors in home environments. We achieved 85.7% precision with our proposed method. We also demonstrate that our robot could appropriately change its locomotion behaviours depending on the floor identification results.

Web of Science ® 被引用回数 : 2

リンク情報
DOI
https://doi.org/10.1080/01691864.2014.996601
Web of Science
https://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=JSTA_CEL&SrcApp=J_Gate_JST&DestLinkType=FullRecord&KeyUT=WOS:000353511200003&DestApp=WOS_CPL
URL
http://dblp.uni-trier.de/db/journals/ar/ar29.html#journals/ar/MatsumuraSMIH15

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