Hybrid Structure of Re ective Gait Control and Visual Servoing for Walking
نویسندگان
چکیده
This paper presents a hybrid structure of re BLOCKINective gait control and adaptive visual servoing [3] by which a vision guided legged robot realizes a re BLOCKINective walk. The re BLOCKINective gait consists of three steps: 1) select a leg to be lifted so as to increase the body stability, 2) move one of other legs to enable the selected leg lifted, and 3) move the selected leg. During these steps, adap-tive visual servoing [5] generates a swaying motion of the robot so that it can stabilize the visual target at the desired position in the image. Combining the re BLOCKINective gait and the swaying, the robot attempts at tracking the visual target, and as a result a re BLOCKINective walk emerges. The validity of the method is shown by computer simulation and a preliminary real experiment, and future work is given.
منابع مشابه
Hybrid structure of reflective gait control and visual servoing for walking
This paper presents a hybrid structure of reflective gait control and adaptive visual servoing [3] by which a vision guided legged robot realizes a reflective walk. The reflective gait consists of three steps: 1) select a leg to be lifted so as to increase the body stability, 2) move one of other legs to enable the selected leg lifted, and 3) move the selected leg. During these steps, adaptive ...
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