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 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 reflective gait and the swaying, the robot attempts at trading the visual target, and as a result a reflective walk emerges. The validity of the method is shown by computer simulation and a preliminary real experiment, and future work is given.