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

Abstract

This study deals with visual-tracking control for a quadruped robot. The control system is composed of two blocks: First one is visual-guidance control system that directs cameras toward a target. And the other is motion controller with non-linear oscillator network that perform motion control for follow its target. Real-time visual-tracking control is implemented with proposed control system and verified the efficiency through numerical simulations and hardware experiments.