Nao Humanoid Climbs Spiral Staircase Autonomously & Reliably
If you have already seen the #-Link-Snipped-# and the #-Link-Snipped-#, you have to expect a humanoid to do that too. And Nao Humanoid is here to live up to your expectation. The laser-equipped Nao humanoid can autonomously climb a spiral staircase. It has a laser range scanner built on top of its head that integrates observations from the camera located in its lower head. Using a global estimation of the pose of the robot and by consistently matching the known staircase model to a set of images acquired on each step, the robot is able to accurately locate itself towards the stairs and to climb them reliably.
#-Link-Snipped-#You can read the details about this project in paper presented on the topic of "Improved Proposals for Highly Accurate Localization Using Range and Vision Data" by Stefan OÃwald, Armin Hornung, and Maren Bennewitz at the IROS 2012 conference. See Nao in action below -
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Read the paper #-Link-Snipped-#.