A Visual Lifting Approach for Dynamic Bipedal Walking

摘要

Although many papers have been published on visual tracking and visual servoing for vision-based robotics, there are only a few research projects studying using vision to improve standing and walking stabilization for legged robots. In this paper, we proposition a “Visual Lifting Bipedal Walking” strategy, which uses visually measured information to control the robot to keep a desired head-top's position/orientation in order to help prevent the robot from falling into unstable gaits, such as falling down on the ground or dangerous foot-slipping caused by gravity, unexpected coupling dynamics, etc.