Fast Visual Foothold Finding For An Autonomous Bipedal Robot

Keith Antonelli; Kamal Gupta; Tad McGeer

doi:10.1117/12.969807

1 March 1990 Fast Visual Foothold Finding For An Autonomous Bipedal Robot

Keith Antonelli, Kamal Gupta, Tad McGeer

Proceedings Volume 1193, Intelligent Robots and Computer Vision VIII: Systems and Applications; (1990) https://doi.org/10.1117/12.969807
Event: 1989 Symposium on Visual Communications, Image Processing, and Intelligent Robotics Systems, 1989, Philadelphia, PA, United States

Abstract

To facilitate experiments in bipedal walking, we have developed a method for fast autonomous recognition of footholds marked by a distinctive color. An image patch is taken to be part of a foot-hold if its color is within a specified region of red-green-blue space and the patch is sufficiently large. The method is suitable for continuous use while the machine is walking and is robust with respect to variations in ambient lighting.

Citation Download Citation

Keith Antonelli, Kamal Gupta, and Tad McGeer "Fast Visual Foothold Finding For An Autonomous Bipedal Robot", Proc. SPIE 1193, Intelligent Robots and Computer Vision VIII: Systems and Applications, (1 March 1990); https://doi.org/10.1117/12.969807

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