Path-Dependent Gaze Control for Obstacle Avoidance In Vision Gelded Humanoid Walking

摘要

This article presents a novel gaze control strategy for obstacle avoidance in the context of vision guided humanoid walking. The generic strategy is based on the maximization of the predicted visual information. For information/uncertainty management a new hybrid formulation of an Extended Kalman Filter is employed. The performance resulting from this view direction control scheme shows the dependence of the intelligent gazing behavior on the preplanned local path.