Vision-based servoing control for legged robots

Abstract

This paper describes a vision-based servoing control scheme for legged robots to achieve a vision-guided swaying task utilizing a visual servoing technique. According to the controller, motions of the legs are not pre-programmed by analyzing the kinematics/dynamics of the system, but are generated by the servoing scheme reactively. The vision-based servoing scheme is a hybrid one consisting of a controller to keep the distances between feet constant (a stance servoing controller), and a visual servoing controller. Some preliminary experimental results are shown to demonstrate the effectiveness of the proposed scheme.