Image-based visual feedback control for biped walking robot

摘要

This paper presents an image-based visual feedback control for stabilizing the motion of biped walking robot. The appropriate flexibility around ankle joints are given mechanically, and then the zero moment point (ZMP) can be detected by using only vision sensor mounted on the robot in the proposed approach. In the paper, the image-based visual feedback control is designed for getting compliant and stable contact between foot sole and ground, and ZMP stabilizer by using rotational motion around center of gravity is simultaneously implemented for dynamically balanced motion in the image-based visual feedback manner. The control performance of the proposed method is evaluated by several experimental results.