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

被引：0

作者：

Hosoda, K ^{[1
]}

Miyashita, T ^{[1
]}

Takeuchi, S ^{[1
]}

Asada, M ^{[1
]}

机构：

[1] Osaka Univ, Dept Adapt Machine Syst, Osaka, Japan

来源：

IROS '97 - PROCEEDINGS OF THE 1997 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOT AND SYSTEMS: INNOVATIVE ROBOTICS FOR REAL-WORLD APPLICATIONS, VOLS 1-3 | 1996年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper describes a method to achieve a vision-cued 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.

引用

页码：778 / 784

页数：7