Vision-Based Motion Primitives for Reactive Walking

  • Posted on: 19 August 2014
  • By: ostasse
TitleVision-Based Motion Primitives for Reactive Walking
Publication TypeConference Paper
Year of Publication2013
AuthorsGarcia, M, Stasse, O, Hayet, J-B, Esteves, C, Laumond, J-P
Conference NameIEEE/RAS Int. Conf. on Robotics and Automation (ICRA)
KeywordsModel Predictive control, visual servoing, Walking pattern generator
Abstract

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.

URLhttp://hal.archives-ouvertes.fr/docs/00/87/54/08/PDF/plan_loco.pdf
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