Autonomous car driving by a humanoid robot

Abstract : Enabling a humanoid robot to drive a car, requires the development of a set of basic primitive actions. These include: walking to the vehicle, manually controlling its commands (e.g., ignition, gas pedal and steering), and moving with the whole-body, to ingress/egress the car. In this paper, we present a sensor-based reactive framework for realizing the central part of the complete task, consisting in driving the car along unknown roads. The proposed framework provides three driving strategies by which a human supervisor can teleoperate the car, ask for assistive driving, or give the robot full control of the car. A visual servoing scheme uses features of the road image to provide the reference angle for the steering wheel to drive the car at the center of the road. Simultaneously , a Kalman filter merges optical flow and accelerometer measurements, to estimate the car linear velocity and correspondingly compute the gas pedal command for driving at a desired speed. The steering wheel and gas pedal reference are sent to the robot control to achieve the driving task with the hu-manoid. We present results from a driving experience with a real car and the humanoid robot HRP-2Kai. Part of the framework has been used to perform the driving task at the DARPA Robotics Challenge.
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https://hal.archives-ouvertes.fr/hal-01485736
Contributor : Antonio Paolillo <>
Submitted on : Thursday, March 9, 2017 - 12:40:59 PM
Last modification on : Sunday, April 14, 2019 - 12:48:53 PM
Long-term archiving on : Saturday, June 10, 2017 - 1:50:19 PM

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Antonio Paolillo, Pierre Gergondet, Andrea Cherubini, Marilena Vendittelli, Abderrahmane Kheddar. Autonomous car driving by a humanoid robot. Journal of Field Robotics, Wiley, 2018, 35 (2), pp.169-186. ⟨10.1002/rob.21731⟩. ⟨hal-01485736⟩

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