SUMMARYThis paper describes a hybrid approach to a fast and accurate localization method for legged robots based on Fuzzy-Markov (FM) and Extended Kalman Filters (EKF). Both FM and EKF techniques have been used in robot localization and exhibit different characteristics in terms of processing time, convergence, and accuracy. We propose a Fuzzy-Markov–Kalman (FM–EKF) localization method as a combined solution for a poor predictable platform such as Sony Aibo walking robots. The experimental results show the performance of EKF, FM, and FM-EKF in a localization task with simple movements, combined behaviors, and kidnapped situations. An overhead tracking system was adopted to provide a ground truth to verify the performance of the proposed method.
Received AcceptedThis paper presents the design and implementation of a human-robot interface capable of evaluating robot localization performance and maintaining full control of robot behaviors in the RoboCup domain. The system consists of legged robots, behavior modules, an overhead visual tracking system, and a graphic user interface. A human-robot communication framework is designed for executing cooperative and competitive processing tasks between users and robots by using object oriented and modularised software architecture, operability, and functionality. Some experimental results are presented to show the performance of the proposed system based on simulated and real-time information.
The environment sensing through visual perception can be obtained by an efficient and reliable landmark modelling. This paper proposes a novel landmark modelling approach to the classification of both the predefined and novelty features in the robot environment. The approach integrates image descriptors for defined landmarks (natural and artificial) and novelty features being dynamically detected. It has been implemented in a quadruped walking robot that has a single camera in its head. Some experimental results are presented to demonstrate the feasibility and performance of the proposed landmark models.
This paper presents an interactive human-robot interface (HRI) capable of evaluating robot localisation performance and maintaining full control of robot behaviours in the RoboCup domain. The system consists of legged robots, behaviour modules, an overhead visual tracking system and a Graphic User Interface (GUI). A human-robot communication framework is designed for executing cooperative and competitive processing tasks between users and robots by using object oriented and modularised software structure. Some experimental results are presented to show the feasibility and performance of the proposed system.
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