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Vision-based servoing control for legged robots

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3 Author(s)
Hosoda, K. ; Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan ; Kamado, M. ; Asada, M.

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

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:4 )

Date of Conference:

20-25 Apr 1997