Vision based motion generation for humanoid robots
|Title||Vision based motion generation for humanoid robots|
|Year of Publication||2013|
|University||University of Paul Sabatier - Toulouse 3|
|Keywords||computer vision, Model Predictive control, Motion planning, Navigation, Walking pattern generator, Whole body control|
This manuscript present my research activities on real-time vision-based behaviors for complex robots such as humanoids. The underlying main scientific question structuring this work is the following: “What are the decisional processes which make possible for a humanoid robot to generate motion in real-time based upon visual information ?” In soccer humans can decide to kick a ball while running and when all the other players are constantly moving. When recast as an optimization problem for a humanoid robot, finding a solution for such behavior is generally computationally hard. For instance, the problem of visual search consider in this work is NP-complete.