Vision-based control evaluation with estimating foot sole floating angle for biped walking robot

The paper presents an estimation method for evaluating stable contact to floor ground by using visual environmental information. In our past papers, the vision-based reaction force feedback and ZMP estimation based on visual feature position has been developed. The appropriate flexibility around foot sole are given mechanically, and then the zero moment point (ZMP) can be detected by using vision sensor mounted on the robot in past approach. In this paper, the estimation method of the floating angle of the foot sole from floor is additionally implemented for evaluating the situation between foot sole and ground. Furthermore, vision-based control performance is compared with force sensor based approach, and it is evaluated by several experimental results.