DocumentCode
2974237
Title
Visual walking for biped walking robot MARI-2
Author
Asano, Yosuke ; Zhu, Chi ; Kawamura, Atsuo
Author_Institution
Dept. of Syst. Design Eng. & Comput. Sci., Yokohama Nat. Univ., Japan
fYear
2004
fDate
25-28 March 2004
Firstpage
399
Lastpage
402
Abstract
The concept of the visual walking is proposed in this paper, which is a hybrid control of servoing the camera image feature point by the posture control and/or tracking it by the biped walking. This control includes the decision making among the environmental conditions. The control algorithm for the visual walking is presented and it is verified by several experiments.
Keywords
decision making; image sensors; legged locomotion; motion control; robot vision; biped walking robot MARI-2; camera image feature point; control algorithm; decision making; environmental conditions; hybrid control; posture control; tracking; visual servoing; visual walking; Cameras; Charge-coupled image sensors; Control systems; Legged locomotion; Mobile robots; Robot kinematics; Robot vision systems; Servomechanisms; Target tracking; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Motion Control, 2004. AMC '04. The 8th IEEE International Workshop on
Print_ISBN
0-7803-8300-1
Type
conf
DOI
10.1109/AMC.2004.1297902
Filename
1297902
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