Vision-driven walking pattern generation for humanoid reactive walking

M. Garcia, O. Stasse, J.-B. Hayet,
IEEE/RAS Int. Conf. on Robotics and Automation (ICRA), 2014, HAL Publisher Bib

Abstract:

We present a novel approach to introduce visual in formation in the walking pattern generator for humanoid robots in a more direct way than the current existing methods. We make use 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 simulationresults validating our approach.