2DOF motion stabilization of biped robot by gaze control strategy

In order to keep intended distance and direction to a target object, our biped robot modifies its movements based on visual information. To detect the target direction, we stabilize gaze of the robot by 2-DOF controller, using a scheduled robot motion plan for the feedforward one and the image infor...

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Bibliographic Details
Main Authors: Takizawa, S., Ushida, S., Okatani, T., Deguchi, K.
Format: Conference Proceeding
Language:English
Subjects:
2DOF control
Adaptive control
Biped robot
Control systems
Feedback
Gaze control
Humans
Motion control
Motion estimation
Robot control
Robot motion
Robot sensing systems
Robot vision
Robot vision systems
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Description
Summary:In order to keep intended distance and direction to a target object, our biped robot modifies its movements based on visual information. To detect the target direction, we stabilize gaze of the robot by 2-DOF controller, using a scheduled robot motion plan for the feedforward one and the image information for the feedback one. Then, we stabilize the robot motion with the stabilized gaze. In this control scheme, parameters of the feedforward controller is modified on-line by using an adaptive law of model reference adaptive control (MRAC).
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2005.1545562