Vision-Based Motion Primitives for Reactive Walking
|Title||Vision-Based Motion Primitives for Reactive Walking|
|Publication Type||Conference Paper|
|Year of Publication||2013|
|Authors||Garcia, M, Stasse, O, Hayet, J-B, Esteves, C, Laumond, J-P|
|Conference Name||IEEE/RAS Int. Conf. on Robotics and Automation (ICRA)|
|Keywords||Model Predictive control, visual servoing, Walking pattern generator|
We present a novel approach to introduce visual information in the walking pattern generator for humanoid robots in a more direct way than the current existing methods. We make use of a model predictive control (MPC) visual servoing strategy, which is combined to the walking motion generator. We define two schemes based on that principle: a position-based and an image-based scheme, with a Quadratic Program (QP) formulation in both cases. Finally, we present some simulation results validating our approach.