Standing/walking stabilization of humanoid robot by visual servoing concept through online-visual-pose-estimation

Wei Song; Tomohide Maeba; Geng Wang; Mamoru Minami; Akira Yanou; Yanan Zhang

Standing/walking stabilization of humanoid robot by visual servoing concept through online-visual-pose-estimation

Wei Song, Tomohide Maeba, Geng Wang, Mamoru Minami, Akira Yanou, Yanan Zhang

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Although many papers have been published on visual tracking, visual servoing of the vision-based robotics, there are only few research study on using vision to improve the standing and walking stabilization for legged robots. In this paper, we set two cameras as the humanoid's eyes, to observe a static object in front, and using the visual measured information to control the robot keeping a desired head-top's position/orientation, in order to help the robot to prevent from unstable motion, such as the falling down action caused by gravity or dangerous slipping motion happened suddenly.

Original language	English
Title of host publication	SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
Publisher	Society of Instrument and Control Engineers (SICE)
Pages	911-916
Number of pages	6
ISBN (Print)	9784907764395
Publication status	Published - Jan 1 2011
Event	50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan Duration: Sept 13 2011 → Sept 18 2011

Publication series

Name	Proceedings of the SICE Annual Conference

Other

Other	50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
Country/Territory	Japan
City	Tokyo
Period	9/13/11 → 9/18/11

Keywords

humanoid
stable standing/walking
visual servoing concept

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

Cite this

Song, W., Maeba, T., Wang, G., Minami, M., Yanou, A., & Zhang, Y. (2011). Standing/walking stabilization of humanoid robot by visual servoing concept through online-visual-pose-estimation. In SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts (pp. 911-916). [6060639] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).

Standing/walking stabilization of humanoid robot by visual servoing concept through online-visual-pose-estimation. / Song, Wei; Maeba, Tomohide; Wang, Geng et al.
SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts. Society of Instrument and Control Engineers (SICE), 2011. p. 911-916 6060639 (Proceedings of the SICE Annual Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Song, W, Maeba, T, Wang, G, Minami, M, Yanou, A & Zhang, Y 2011, Standing/walking stabilization of humanoid robot by visual servoing concept through online-visual-pose-estimation. in SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts., 6060639, Proceedings of the SICE Annual Conference, Society of Instrument and Control Engineers (SICE), pp. 911-916, 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011, Tokyo, Japan, 9/13/11.

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AU - Zhang, Yanan

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AB - Although many papers have been published on visual tracking, visual servoing of the vision-based robotics, there are only few research study on using vision to improve the standing and walking stabilization for legged robots. In this paper, we set two cameras as the humanoid's eyes, to observe a static object in front, and using the visual measured information to control the robot keeping a desired head-top's position/orientation, in order to help the robot to prevent from unstable motion, such as the falling down action caused by gravity or dangerous slipping motion happened suddenly.

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Standing/walking stabilization of humanoid robot by visual servoing concept through online-visual-pose-estimation

Abstract

Publication series

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Keywords

ASJC Scopus subject areas

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