Vision-driven walking pattern generation for humanoid reactive walking
Title | Vision-driven walking pattern generation for humanoid reactive walking |
Publication Type | Conference Paper |
Year of Publication | 2014 |
Authors | Garcia, M, Stasse, O, Hayet, J-B |
Conference Name | IEEE/RAS Int. Conf. on Robotics and Automation (ICRA) |
Keywords | 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. |
URL | http://hal.archives-ouvertes.fr/docs/00/99/00/88/PDF/14-icra-wpg-visual.pdf |
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