抄録
Visual-feecback balance experiments on compliant life-sized humanoid robot is conducted. A 120 fps camera is mounted on a base frame of the robot, and visual feature points are given by LED arrays on a vertical plane in front of the robot, and the positon and orientation of the base are estimated at every 10 ms. The experimental results show that the robot can dynamically keep its balance while pushed from the side, and the vision performs almost equally as the forward kinematics using IMU and joint position sensors in this simple experimental setup.
