Visually-guided grasping while walking on a humanoid robot

被引：40
|
作者：
Mansard, Nicolas [1 ]
Stasse, Olivier [2 ]
Chaumette, Francois [1 ]
Yokoi, Kazuhito [2 ]
机构：
[1] IRISA INRIA Rennes, Rennes, France
[2] CNRS, JRL, ISRI AIST, Tsukuba, Ibaraki, Japan
来源：
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年
关键词：
D O I：
10.1109/ROBOT.2007.363934
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we apply a general framework for building complex whole-body control for highly redundant robot, and we propose to implement it for visually-guided grasping while walking on a humanoid robot. The key idea is to divide the control into several sensor-based control tasks that are simultaneously executed by a general structure called stack of tasks. This structure enables a very simple access for task sequencing, and can be used for task-level control. This framework was applied for a visual servoing task. The robot walks along a planed path, keeping the specified object in the middle of its field of view and finally, when it is close enough, the robot grasps the object while walking.
引用
收藏
页码：3041 / +
页数：3
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