{'fraction_non_alphanumeric': 0.012224938875305624, 'fraction_numerical': 0.0, 'mean_word_length': 4.892086330935252, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
A study on obstacle avoidance for stable walking of biped robots

The autonomous mobility for the biped robot KU-ROBO in the home environment is realized base on the development of a small stereo vision system, the recognition of floor and obstacles using plane extraction. The terrain is represented in a robot centric coordinate system without making any structural assumptions about the surrounding world. And the representation of a terrain map based on these observations, robot motion, and the generation of a walking path on the terrain map. We therefore believe, our approach is well suited for many different a home environment where no a priori information about the environment is given. The limitation of our system is that the terrain has to contain enough texture in order to obtain reliable stereo data.