Visual Lifting stabilization of dynamic Bipedal Walking

摘要

Although many papers have been published on visual tracking and visual servoing of the vision-based robotics, there are only few research studies on using vision to improve the standing and walking stabilization for legged robots. In this paper, we propose a "Visual Lifting Bipedal Walking" strategy, which uses visually measured information to control the robot for keeping a desired head-top's position/orientation, to help the robot prevent falling from unstable gaits, such as falling down to ground caused by gravity, undesired dynamical coupling or dangerous foot-slipping motion.