Conference proceeding
DRC-Hubo Walking on Rough Terrains
2014 IEEE INTERNATIONAL CONFERENCE ON TECHNOLOGIES FOR PRACTICAL ROBOT APPLICATIONS (TEPRA)
01 Jan 2014
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
Up to now humanoid robots have been designed primarily for walking on flat surfaces. In the future, humanoid robots are required to replace human beings to operate in natural or damaged man-engineered environments. In the 2013 DARPA Robotics Challenge, the robots are required to walk through several type of rough terrains. In this scenario, the robot will be challenged to keep balance and fulfill the tasks while walking. We have developed several balance gaits and associated controllers. The latter collaborate with a computer vision system to enable our humanoid robot DRC-Hubo to walk over rough terrains. Both theoretical and experimental results are presented to verify the approach.
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Details
- Title
- DRC-Hubo Walking on Rough Terrains
- Creators
- Hongfei Wang - The Ohio State UniversityYuan F. Zheng - The Ohio State UniversityYoungbum Jun - Drexel UniversityPaul Oh - Drexel UniversityIEEE
- Publication Details
- 2014 IEEE INTERNATIONAL CONFERENCE ON TECHNOLOGIES FOR PRACTICAL ROBOT APPLICATIONS (TEPRA)
- Series
- IEEE International Conference on Technologies for Practical Robot Applications
- Publisher
- IEEE
- Number of pages
- 6
- Grant note
- N65236-12-1-1005 / Defense Advanced Research Projects Agency (DARPA); United States Department of Defense
- Resource Type
- Conference proceeding
- Language
- English
- Web of Science ID
- WOS:000345737500016
- Scopus ID
- 2-s2.0-84906519452
- Other Identifier
- 991019348759904721
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- Collaboration types
- Domestic collaboration
- Web of Science research areas
- Engineering, Electrical & Electronic
- Robotics