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
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;
Conference_Titel :
Advanced Motion Control, 2004. AMC '04. The 8th IEEE International Workshop on
Print_ISBN :
0-7803-8300-1
DOI :
10.1109/AMC.2004.1297902
