TY - GEN
T1 - Visual lifting stabilization of dynamic bipedal walking
AU - Song, Wei
AU - Minami, Mamoru
AU - Maeba, Tomohide
AU - Zhang, Yanan
AU - Yanou, Akira
AU - Wang, Geng
PY - 2011
Y1 - 2011
N2 - Although many papers have been published on visual tracking and visual servoing of the vision-based robotics, there are only few research studies on using vision to improve the standing and walking stabilization for legged robots. In this paper, we propose a "Visual Lifting Bipedal Walking" strategy, which uses visually measured information to control the robot for keeping a desired head-top's position/orientation, to help the robot prevent falling from unstable gaits, such as falling down to ground caused by gravity, undesired dynamical coupling or dangerous foot-slipping motion.
AB - Although many papers have been published on visual tracking and visual servoing of the vision-based robotics, there are only few research studies on using vision to improve the standing and walking stabilization for legged robots. In this paper, we propose a "Visual Lifting Bipedal Walking" strategy, which uses visually measured information to control the robot for keeping a desired head-top's position/orientation, to help the robot prevent falling from unstable gaits, such as falling down to ground caused by gravity, undesired dynamical coupling or dangerous foot-slipping motion.
UR - http://www.scopus.com/inward/record.url?scp=84863038483&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84863038483&partnerID=8YFLogxK
U2 - 10.1109/Humanoids.2011.6100840
DO - 10.1109/Humanoids.2011.6100840
M3 - Conference contribution
AN - SCOPUS:84863038483
SN - 9781612848679
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 345
EP - 351
BT - 2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011
T2 - 2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011
Y2 - 26 October 2011 through 28 October 2011
ER -