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Decoupled rotational motion control for visual walking stabilization

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2 Author(s)
Yosuke Asano ; Kisarazu National College of Technology 2-11-1, Kisarazushi, Chiba, Japan ; Atsuo Kawamura

A definition of the visual walking proposed by authors is that the robot autonomously walks by making decision based on the image feature motion. One of the achievements is "visual tracking walk". In the past conference, authors proposed a hybrid control for "visual walking". In this paper, the four vertexes of a square surrounding the red target in the image plane are selected as image features. Using such image features, the robot moves in front of the desired position. The rotation orientation of the robot is improved by the feature values caused by the walking motion. The proposed control law is verified by simulations and experiments.

Published in:

2008 10th IEEE International Workshop on Advanced Motion Control

Date of Conference:

26-28 March 2008