Adaptive visual servoing for legged robots-vision-cued swaying of legged robots in unknown environments

This paper describes a method to achieve a visioncued swaying task in unknown environments utilizing adaptive visual servoing. The proposed method has a hybrid structure consisting of a controller to keep the distances between feet constant (a stance servoing controller), and an adaptive visual servoing controller. Making use of the method, the motion of each joint need not be pre-programmed, but is generated by the method according to the motion of visual cues. An experimental result demonstrates how the proposed method realizes a vision-cued swaying behavior of the legged robot.