Vision-Based Humanoid Robot Control Using FIR Filter

  • Kwan Soo KimEmail author
  • Hyun Ho Kang
  • Sung Hyun You
  • Choon Ki Ahn
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 474)


In this paper, we propose a novel vision-based humanoid control method and visual tracking based on constant velocity (CV) model using the finite impulse response (FIR) filter. The proposed method has robust performance even if a sampling time or noise information is inaccurate. Furthermore, even when the movement of the detected ball or the ambient illuminance changes suddenly, the proposed method shows robust performance. The robust performance of the proposed method is verified through experimental results.


Humanoid Vision-based control Visual tracking Kalman filter FIR filter 



This work was supported in part by “Human Resources program in Energy Technology” of the Korea Institute of Energy Technology Evaluation and Planning (KETEP) granted financial resource from the Ministry of Trade, Industry & Energy, Republic of Korea (No. 20174030201820) and in part by the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT&Future Planning (NRF - 2017R1A1A1A05001325).


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Copyright information

© Springer Nature Singapore Pte Ltd. 2018

Authors and Affiliations

  • Kwan Soo Kim
    • 1
    Email author
  • Hyun Ho Kang
    • 1
  • Sung Hyun You
    • 1
  • Choon Ki Ahn
    • 1
  1. 1.School of Electrical EngineeringKorea UniversitySeoulKorea

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