1P2-C04 Motion Control for Driving Vehicles based on Visual Recognition or Postural Change with a Humanoid Robot

Abstract

In order to enable a humanoid robot to drive vehicles, it is important for the robot to recognize environment autonomously to a certaing degree. It is also significant that a humanoid robot can correct its body tilt in accordance with its postural change. In this paper, we propose the way for a humanoid robot to determine how much to turn a steering wheel by environment perception and practical local path planner for driving vehicles. Force control method is also presented in order to correct its body tilt when a humanoid robot drives vehicles. Effectiveness of these methods is confirmed in an experiment in which a humanoid robot drives Polaris vehicle along complicated road with six corners.