A Visual Lifting Approach for Dynamic Bipedal Walking

International Journal of Advanced Robotic Systems

关键词: Bipedal walking;    Visual lifting;    Dynamic control;   

DOI  :  10.5772/52450

学科分类：自动化工程

来源: InTech

【 摘 要 】

Although many papers have been published on visual tracking and visual servoing for vision-based robotics, there are only a few research projects studying using vision to improve standing and walking stabilization for legged robots. In this paper, we proposition a “Visual Lifting Bipedal Walking” strategy, which uses visually measured information to control the robot to keep a desired head-top's position/orientation in order to help prevent the robot from falling into unstable gaits, such as falling down on the ground or dangerous foot-slipping caused by gravity, unexpected coupling dynamics, etc.

【 授权许可】

CC BY