Effects of Biped Humanoid Robot Walking Gaits on Sparse Visual Odometry Algorithms

Yukitoshi Minami Shiguematsu, Martim Brandao, Kenji Hashimoto, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Motivated by experiments showing that humans regulate their walking speed in order to improve localization performance, in this paper we explore the effects of walking gait on biped humanoid localization. We focus on step length as a proxy for speed and because of its ready applicability to current footstep planners, and we compare the performance of three different sparse visual odometry (VO) algorithms as a function of step length: a direct, a semi-direct and an indirect algorithm. The direct algorithm's performance decreased the longer the step lengths, which along with the analysis of inertial and force/torque data, point to a decrease in performance due to an increase of mechanical vibrations. The indirect algorithm's performance decreased in an opposite way, i.e., showing more errors with shorter step lengths, which we show to be due to the effects of drift over time. The semi-direct algorithm showed a performance in-between the previous two. These observations show that footstep planning could be used to improve the performance of VO algorithms in the future.

Original languageEnglish
Title of host publication2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018
PublisherIEEE Computer Society
Pages160-165
Number of pages6
ISBN (Electronic)9781538672839
DOIs
Publication statusPublished - 2019 Jan 23
Externally publishedYes
Event18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018 - Beijing, China
Duration: 2018 Nov 62018 Nov 9

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
Volume2018-November
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Conference

Conference18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018
CountryChina
CityBeijing
Period18/11/618/11/9

Fingerprint

Robots
Torque
Planning
Experiments

Keywords

  • Ego-motion
  • Humanoid robot
  • Localization
  • Visual odometry
  • WABIAN-2R

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

Cite this

Shiguematsu, Y. M., Brandao, M., Hashimoto, K., & Takanishi, A. (2019). Effects of Biped Humanoid Robot Walking Gaits on Sparse Visual Odometry Algorithms. In 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018 (pp. 160-165). [8625015] (IEEE-RAS International Conference on Humanoid Robots; Vol. 2018-November). IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2018.8625015

Effects of Biped Humanoid Robot Walking Gaits on Sparse Visual Odometry Algorithms. / Shiguematsu, Yukitoshi Minami; Brandao, Martim; Hashimoto, Kenji; Takanishi, Atsuo.

2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018. IEEE Computer Society, 2019. p. 160-165 8625015 (IEEE-RAS International Conference on Humanoid Robots; Vol. 2018-November).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Shiguematsu, YM, Brandao, M, Hashimoto, K & Takanishi, A 2019, Effects of Biped Humanoid Robot Walking Gaits on Sparse Visual Odometry Algorithms. in 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018., 8625015, IEEE-RAS International Conference on Humanoid Robots, vol. 2018-November, IEEE Computer Society, pp. 160-165, 18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018, Beijing, China, 18/11/6. https://doi.org/10.1109/HUMANOIDS.2018.8625015
Shiguematsu YM, Brandao M, Hashimoto K, Takanishi A. Effects of Biped Humanoid Robot Walking Gaits on Sparse Visual Odometry Algorithms. In 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018. IEEE Computer Society. 2019. p. 160-165. 8625015. (IEEE-RAS International Conference on Humanoid Robots). https://doi.org/10.1109/HUMANOIDS.2018.8625015
Shiguematsu, Yukitoshi Minami ; Brandao, Martim ; Hashimoto, Kenji ; Takanishi, Atsuo. / Effects of Biped Humanoid Robot Walking Gaits on Sparse Visual Odometry Algorithms. 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018. IEEE Computer Society, 2019. pp. 160-165 (IEEE-RAS International Conference on Humanoid Robots).
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