Visual lifting stabilization of dynamic bipedal walking

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011
Pages345-351
Number of pages7
DOIs
Publication statusPublished - Dec 1 2011
Event2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011 - Bled, Slovenia
Duration: Oct 26 2011Oct 28 2011

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Other

Other2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011
CountrySlovenia
CityBled
Period10/26/1110/28/11

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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  • Cite this

    Song, W., Minami, M., Maeba, T., Zhang, Y., Yanou, A., & Wang, G. (2011). Visual lifting stabilization of dynamic bipedal walking. In 2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011 (pp. 345-351). [6100840] (IEEE-RAS International Conference on Humanoid Robots). https://doi.org/10.1109/Humanoids.2011.6100840