A visual lifting approach for dynamic bipedal walking

Wei Song, Mamoru Minami, Yanan Zhang

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)

Abstract

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.

Original languageEnglish
JournalInternational Journal of Advanced Robotic Systems
Volume9
DOIs
Publication statusPublished - Nov 7 2012

Keywords

  • Bipedal walking
  • Dynamic control
  • Visual lifting

ASJC Scopus subject areas

  • Software
  • Computer Science Applications
  • Artificial Intelligence

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