Vision-Based Humanoid Robot Control Using FIR Filter

In this paper, we propose a novel vision-based humanoid control method and visual tracking based on constant velocity (CV) model using the finite impulse response (FIR) filter. The proposed method has robust performance even if a sampling time or noise information is inaccurate. Furthermore, even when the movement of the detected ball or the ambient illuminance changes suddenly, the proposed method shows robust performance. The robust performance of the proposed method is verified through experimental results.