Vision-Based Locomotion Control for Humanoid Robots: A Study on Vision-Guided Walking Strategies

摘要

Recently, there has been a lot of research on using vision to direct humanoid robots as they walk. Focusing on the major methodologies, difficulties, and prospects, this review article presents an overview of the current state of study in the vision-guided walking of humanoid robots. In the first part of the study, we introduce vision-guided walking and go through the several methods that have been developed to execute it, such as visual serving, visual odometer, and visual simultaneous localization and mapping. The difficulties of vision-guided walking are then discussed; these include, but are not limited to, the necessity for accurate and strong computer vision algorithms, the robot's need to have a solid awareness of its own body and how it moves, and the need to maintain balance while walking. This paper provides a detailed review of the research on humanoid robots that use vision to direct their gait. Deep learning for vision-guided walking, tactile and proprioceptive sensing combined with vision, and reinforcement learning for adaptive walking are only a few of the issues covered in this overview. Future directions in vision-guided walking research are discussed in this paper. These include the development of more advanced and reliable computer vision algorithms, the incorporation of other modalities like tactile and auditory sensing, and the investigation of new applications for vision-guided walking in fields like healthcare and rehabilitation.