Gait of Quadruped Robot Including Positioning Control Using Linear Visual Servoing

DOI DOI オープンアクセス

この論文をさがす

説明

<jats:p>Quadruped robots walking in discrete environments conventionally control leg swinging using either simple potentiometer-based feedback or feed forward. We think accurate positioning control for a safe landing using visual servoing is required. Conventional visual servoing, however, has problems such as requiring complex nonlinear calculation with exact camera and joint angles. To solve these problems, we propose Linear Visual Servoing (LVS) for positioning the quadruped robot leg in a gait. We show that the robot can make minor adjustments despite error between planned and safe landing points.</jats:p>

収録刊行物

詳細情報 詳細情報について

問題の指摘

ページトップへ