文章基本信息

标题：A Visual Lifting Approach for Dynamic Bipedal Walking
本地全文：下载
作者：Wei Song ; Mamoru Minami ; Yanan Zhang 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2012
卷号：9
DOI：10.5772/52450
语种：English
出版社：SAGE Publications
摘要：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.
关键词：Bipedal walking; Visual lifting; Dynamic control