Motion Stabilization of Biped Robot by Gaze Control
نویسندگان
چکیده
We present a motion stabilization system for a biped robot th at makes it possible to keep relative postu re and position to a moving or stationary object. O u r system consists of tw o layers of control su bsystems, gaze control system and motion control system. In order to ach ieve an actu al motion w h ich follow s exactly a sch edu led one, th e biped robot gazes a target to estimate errors of robot motion and adju sts both an actu al motion and th e sch edu led one simu ltaneou sly. T h e gaze control system h as 2 D O F controller w h ich u ses a sch edu led robot motion in th e feedforw ard part. A periodic motion of robot body sw ing indu ced by w alk ing is u sed to estimate th e distance to th e target by forming a motion stereo. T h e sch edu led motion is adju sted based on an adaptive law of M odel R eference A daptive C ontrol (M R A C ).
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