A Visual Lifting Approach for Dynamic Bipedal Walking
Although many papers have been published on visual tracking and visual servoing for vision-based robotics, there are only a few research projects studying using vision to improve standing and walking stabilization for legged robots. In this paper, we proposition a “Visual Lifting Bipedal Walking” st...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2012-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/52450 |
| _version_ | 1818097266460721152 |
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| author | Wei Song Mamoru Minami Yanan Zhang |
| author_facet | Wei Song Mamoru Minami Yanan Zhang |
| author_sort | Wei Song |
| collection | DOAJ |
| description | Although many papers have been published on visual tracking and visual servoing for vision-based robotics, there are only a few research projects studying using vision to improve standing and walking stabilization for legged robots. In this paper, we proposition a “Visual Lifting Bipedal Walking” strategy, which uses visually measured information to control the robot to keep a desired head-top's position/orientation in order to help prevent the robot from falling into unstable gaits, such as falling down on the ground or dangerous foot-slipping caused by gravity, unexpected coupling dynamics, etc. |
| first_indexed | 2024-12-10T23:17:47Z |
| format | Article |
| id | doaj.art-a31f2170181e45798d5549fe4e8195a9 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-10T23:17:47Z |
| publishDate | 2012-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-a31f2170181e45798d5549fe4e8195a92022-12-22T01:29:47ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142012-11-01910.5772/5245010.5772_52450A Visual Lifting Approach for Dynamic Bipedal WalkingWei Song0Mamoru Minami1Yanan Zhang2 School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China School of Natural Science and Technology, Okayama University, Okayama, Japan School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, ChinaAlthough many papers have been published on visual tracking and visual servoing for vision-based robotics, there are only a few research projects studying using vision to improve standing and walking stabilization for legged robots. In this paper, we proposition a “Visual Lifting Bipedal Walking” strategy, which uses visually measured information to control the robot to keep a desired head-top's position/orientation in order to help prevent the robot from falling into unstable gaits, such as falling down on the ground or dangerous foot-slipping caused by gravity, unexpected coupling dynamics, etc.https://doi.org/10.5772/52450 |
| spellingShingle | Wei Song Mamoru Minami Yanan Zhang A Visual Lifting Approach for Dynamic Bipedal Walking International Journal of Advanced Robotic Systems |
| title | A Visual Lifting Approach for Dynamic Bipedal Walking |
| title_full | A Visual Lifting Approach for Dynamic Bipedal Walking |
| title_fullStr | A Visual Lifting Approach for Dynamic Bipedal Walking |
| title_full_unstemmed | A Visual Lifting Approach for Dynamic Bipedal Walking |
| title_short | A Visual Lifting Approach for Dynamic Bipedal Walking |
| title_sort | visual lifting approach for dynamic bipedal walking |
| url | https://doi.org/10.5772/52450 |
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