1A1-D16 Vision-guided locomotion control of a quadruped robot using oscillator network

Abstract

This study deals with visual-tracking control for a quadrupedal robot. The control system is composed of two blocks: First one is visual-guidance commander and the other is motion controller with non-linear oscillator network. Realtime visual-tracking control is implemented with proposed control system and verified the effeciency through numerical simulations and hardware experiments.