Abstract
In the past paper, we proposed the feature value amplitude control for “Visual walking” in Biped walking robot. This method presented the rotation motion tracking walk in the visual servo. The biped robot has been able to track the rotational and translational target. However, we had the problem that it took long to converge to the reference value. In this paper, we proposed Variable Gain Control to improve the responsiveness of the rotation control. We simulated the visual walking aiming at the rotational and translational target applied the proposed control. As a result, it improved the responsiveness of the feature value amplitude with the accuracy and stability. It also improved the responsiveness of the translation and rotation of the robot body.
