Vision-driven walking pattern generation for humanoid reactive walking

被引：0
|
作者：
Garcia, Mauricio [1 ,2 ]
Stasse, Olivier [2 ]
Hayet, Jean-Bernard [1 ]
机构：
[1] CIMAT AC, Jalisco S-N Mineral Valenciana, Guanajuato 36240, Mexico
[2] CNRS, LAAS, F-31400 Toulouse, France
来源：
2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2014年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We present a novel approach to introduce visual information in the walking pattern generator for humanoid robots in a more direct way than the current existing methods. We make use of 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 simulation results validating our approach.
引用
收藏
页码：216 / 221
页数：6
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