Posicionamento e movimentação de um robô humanóide utilizando imagens de uma câmera móvel externa

• Autor(a) principal: Nogueira, Marcelo Borges
• Data de Publicação: 2005
• Tipo de documento: Dissertação
• Idioma: por
• Título da fonte: Repositório Institucional da UFRN
• Texto Completo: https://repositorio.ufrn.br/jspui/handle/123456789/15350
• topic: Robô humanóide; Calibração de camêra; Determinação de pose relativa; Planejamento de trajatória; Navegação colaborativa; Humanoid robot; Camera calibration; Relative pose determination; Trajectory planning; Collaborative navigation; CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA

This work proposes a method to localize a simple humanoid robot, without embedded sensors, using images taken from an extern camera and image processing techniques. Once the robot is localized relative to the camera, supposing we know the position of the camera relative to the world, we can compute the position of the robot relative to the world. To make the camera move in the work space, we will use another mobile robot with wheels, which has a precise locating system, and will place the camera on it. Once the humanoid is localized in the work space, we can take the necessary actions to move it. Simultaneously, we will move the camera robot, so it will take good images of the humanoid. The mainly contributions of this work are: the idea of using another mobile robot to aid the navigation of a humanoid robot without and advanced embedded electronics; chosing of the intrinsic and extrinsic calibration methods appropriated to the task, especially in the real time part; and the collaborative algorithm of simultaneous navigation of the robots