IEEJ Transactions on Industry Applications
Online ISSN : 1348-8163
Print ISSN : 0913-6339
ISSN-L : 0913-6339
Paper
Proposal and Verification of Visual Walke Aiming at the Rotation Target Object Based on Feature Value Caused by Biped Walking Motion
Yosuke AsanoAtsuo Kawamura
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2008 Volume 128 Issue 8 Pages 1020-1028

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Abstract
A definition of the visual walking proposed by authors is that the robot autonomously walks by making decision based on the image feature motion. One of the achievements is “visual tracking walk”. In the past conference, authors proposed a hybrid control for “visual walking”. In this paper, the four vertexes of a square surrounding the red target in the image plane are selected as image features. Using such image features, the robot moves in front of the desired position. The rotation orientation of the robot is improved by the feature values caused by the walking motion. The proposed control law is verified by simulations and experiments.
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© 2008 by the Institute of Electrical Engineers of Japan
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