TY - GEN
T1 - Omni-directional vision-based control strategy for humanoid soccer robot
AU - Su, Yu Te
AU - Li, Tzuu Hseng S.
AU - Hsu, Chia Ling
AU - Lu, Ming Feng
AU - Hu, Chun Yang
AU - Liu, Shao Hsien
PY - 2007
Y1 - 2007
N2 - The humanoid soccer robot system can be considered as a visual feedback system that includes the design and implementation of the hardware architecture, visual servo system, control strategy system and sensory system. This paper is mainly to integrate the two major parts of the humanoid soccer robot, the visual system and control strategy system. At first, the architecture of the omni-directional vision system is setup. The advanced label algorithm (ALA) is then employed for object recognition in the vision processing system. The corresponding offending and defending control strategies are developed. Two special data transformation mechanisms are also examined. Finally the experiments of the humanoid soccer robot are performed to verify the benefit and the feasibility of'the proposed control strategies.
AB - The humanoid soccer robot system can be considered as a visual feedback system that includes the design and implementation of the hardware architecture, visual servo system, control strategy system and sensory system. This paper is mainly to integrate the two major parts of the humanoid soccer robot, the visual system and control strategy system. At first, the architecture of the omni-directional vision system is setup. The advanced label algorithm (ALA) is then employed for object recognition in the vision processing system. The corresponding offending and defending control strategies are developed. Two special data transformation mechanisms are also examined. Finally the experiments of the humanoid soccer robot are performed to verify the benefit and the feasibility of'the proposed control strategies.
UR - http://www.scopus.com/inward/record.url?scp=49949091192&partnerID=8YFLogxK
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U2 - 10.1109/IECON.2007.4460356
DO - 10.1109/IECON.2007.4460356
M3 - Conference contribution
AN - SCOPUS:49949091192
SN - 1424407834
SN - 9781424407835
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 2950
EP - 2955
BT - Proceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
T2 - 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
Y2 - 5 November 2007 through 8 November 2007
ER -