ARToolKitを用いたヒューマノイドロボットのモーション推定
- Author
- 清水彰一, 藤田征士, 草富省吾, 伊藤孝浩, 藤吉弘亘.
- Publication
- 人工知能学会SIG-Challenge研究会, pp. 44–49, 2008
Download: PDF (Japanese)
The RoboCup SSL Japanese teams have proposed a new league that uses humanoid robots and a global vision system. The humanoid robot is able to execute motions by selecting them from a list implemented in advance. While the humanoid robot is moving, it cannot change the motion. Therefore, it is important to estimate the motion by observing the humanoid robot using global vision systems. We propose a method of motion estimation for humanoid robots using ARToolKit. Our method uses the ARToolKit to obtain this observed information, which includes the position and pose of the humanoid robot. We show that the proposed method can estimate the motion within 15 frames from the frame in which the current motion was started.