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 proceedingConference contribution

1 Citation (Scopus)

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 languageEnglish
Title of host publicationSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PublisherSociety of Instrument and Control Engineers (SICE)
Pages911-916
Number of pages6
ISBN (Print)9784907764395
Publication statusPublished - Jan 1 2011
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: Sep 13 2011Sep 18 2011

Publication series

NameProceedings of the SICE Annual Conference

Other

Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
CountryJapan
CityTokyo
Period9/13/119/18/11

Keywords

  • humanoid
  • stable standing/walking
  • visual servoing concept

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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