Visual Servoing in an Optimization Framework for the Whole-Body Control of Humanoid Robots

被引：39
|
作者：
Agravante, Don Joven [1 ]
Claudio, Giovanni [1 ]
Spindler, Fabien [1 ]
Chaumette, Francois [1 ]
机构：
[1] Inria Rennes Bretagne Atlantique, Lagad Grp, Campus Beaulieu, F-35042 Rennes, France
来源：
IEEE ROBOTICS AND AUTOMATION LETTERS | 2017年 / 2卷 / 02期
关键词：
Humanoid robots; optimization and optimal control; visual servoing; MOTION GENERATION; WALKING; CHALLENGE;
D O I：
10.1109/LRA.2016.2645512
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, we show that visual servoing can be formulated as an acceleration-resolved, quadratic optimization problem. This allows us to handle visual constraints, such as field of view and occlusion avoidance, as inequalities. Furthermore, it allows us to easily integrate visual servoing tasks into existing wholebody control frameworks for humanoid robots, which simplifies prioritization and requires only a posture task as a regularization term. Finally, we show this method working on simulations with HRP-4 and real tests on Romeo.
引用
收藏
页码：608 / 615
页数：8
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