DocumentCode :
2194586
Title :
Vision-based servoing control for legged robots
Author :
Hosoda, Koh ; Kamado, Mitsuhiko ; Asada, Minoru
Author_Institution :
Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
Volume :
4
fYear :
1997
fDate :
20-25 Apr 1997
Firstpage :
3154
Abstract :
This paper describes a vision-based servoing control scheme for legged robots to achieve a vision-guided swaying task utilizing a visual servoing technique. According to the controller, motions of the legs are not pre-programmed by analyzing the kinematics/dynamics of the system, but are generated by the servoing scheme reactively. The vision-based servoing scheme is a hybrid one consisting of a controller to keep the distances between feet constant (a stance servoing controller), and a visual servoing controller. Some preliminary experimental results are shown to demonstrate the effectiveness of the proposed scheme
Keywords :
Jacobian matrices; legged locomotion; mobile robots; motion control; robot dynamics; robot vision; servomechanisms; Jacobian matrix; legged robots; motion control; stance servoing control; vision-based servoing; Control systems; Leg; Legged locomotion; Motion analysis; Robot control; Robot kinematics; Robot sensing systems; Robot vision systems; Robustness; Visual servoing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
Type :
conf
DOI :
10.1109/ROBOT.1997.606768
Filename :
606768
Link To Document :
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