2DOF motion stabilization of biped robot by gaze control strategy

Author

Takizawa, Shota ; Ushida, Shun ; Okatani, Takayuki ; Deguchi, Koichiro

Author_Institution

Graduate Sch. of Inf. Sci., Tohoku Univ., Sendai, Japan

fYear

2005

fDate

2-6 Aug. 2005

Firstpage

1102

Lastpage

1107

Abstract

In order to keep intended distance and direction to a target object, our biped robot modifies its movements based on visual information. To detect the target direction, we stabilize gaze of the robot by 2-DOF controller, using a scheduled robot motion plan for the feedforward one and the image information for the feedback one. Then, we stabilize the robot motion with the stabilized gaze. In this control scheme, parameters of the feedforward controller is modified on-line by using an adaptive law of model reference adaptive control (MRAC).

Keywords

feedback; feedforward; legged locomotion; motion control; path planning; robot vision; stability; 2DOF motion stabilization; biped robot; feedback; feedforward controller; gaze control strategy; image information; model reference adaptive control; motion planning; target direction detection; visual information; Adaptive control; Control systems; Feedback; Humans; Motion control; Motion estimation; Robot control; Robot motion; Robot sensing systems; Robot vision systems; 2DOF control; Biped robot; Gaze control; Robot vision;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8912-3

Type

conf

DOI

10.1109/IROS.2005.1545562

Filename

1545562