%0 Generic
%A Infante Hernández, Kevin Yesid
%A Martínez, Fabio
%A Arbulú Saavedra, Mario Ricardo
%8 2014
%U http://hdl.handle.net/10818/33419
%X Cooperation work among robots is a very popular
and active research area, in which the synergy among different
dynamic methods, communication strategies and feedback control
algorithms allows that a group of robots work together to
achieve a common goal. Although, the last years have been
reported important advances in this line, there exist many
limitations on the develop of these collaborative works because
the extremely variability of the scenes, the task challenge and
some robot’s hardware issues. This work develops the specific
tasks of locating, reaching and kicking a ball for a humanoid
robot, and proposes a new approach which solves stability and
illumination problems.
Vision tracking feedback to locomotion algorithm will be
employed in those tasks. Vision algorithm is based on spatiotemporal
characterization, which give the input to the motion
planning robot algorithm. The motion planning algorithm
introduces a novel control approach which allows to reach the
ball and kick it stably. A validation of the proposed method in
terms of tracking algorithm error with motion control, in both
real and simulated indoor environment allows to evidence the
proper performance of the proposed approach.
%T Robot navigation by fusing a spatio-temporal video descriptor with a robust humanoid motion control for kicking a ball
%~ Intellectum