2DOF motion stabilization of biped robot by gaze control strategy

Shota Takizawa, Shun Ushida, Takayuki Okatani, Koichiro Deguchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

In order to keep intended distance and direction to a target object, our biped robot modifies its movements based on visual information. To detect the target direction, we stabilize gaze of the robot by 2 DOF controller, using a scheduled robot motion plan for the feedforward one and the image information for the feedback one. Then, we stabilize the robot motion with the stabilized gaze. In this control scheme, parameters of the feedforward controller is modified on-line by using an adaptive law of Model Reference Adaptive Control (MRAC).

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Pages1102-1107
Number of pages6
ISBN (Print)0780389123, 9780780389120
DOIs
Publication statusPublished - 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Keywords

  • 2DOF control
  • Biped robot
  • Gaze control
  • Robot vision

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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