Cancelling the sway motion of dynamic walking in visual servoing
Cancelling the sway motion of dynamic walking in visual servoing
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DOI：
10.1109/iros.2010.5649126
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发表时间：
2010-12
期刊：
影响因子：
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通讯作者：
C. Dune;A. Herdt;O. Stasse;Pierre-Brice Wieber;K. Yokoi;E. Yoshida
中科院分区：
文献类型：
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作者：
C. Dune;A. Herdt;O. Stasse;Pierre-Brice Wieber;K. Yokoi;E. Yoshida
介绍了一种用于仿人行走的视觉伺服方案。虽然大多数现有方法遵循感知-决策-行动方案，但我们关闭了环路，使控制对模型误差具有鲁棒性。我们的方法是基于一种新的反应模式发生器，它在控制层面修改脚步、质量中心和压力中心轨迹，使质量中心跟踪参考速度。在本文中，参考速度由视觉伺服控制律直接给出。由于HRP-2行走引起的摇摆运动扰乱了视觉控制律的调节，因此我们引入了一个允许在图像空间收敛并考虑到这种摇摆运动的控制律。
This paper introduces a visual servoing scheme for humanoid walking. Though most of the existing approaches follow a perception-decision-action scheme, we close the loop so that the control is robust to model error. Our approach is based on a new reactive pattern generator which modifies, at the control level, the footsteps, the center of mass and the center of pressure trajectories for the center of mass to track a reference velocity. And, in this paper, the reference velocity is directly given by a visual servoing control law. Since, the HRP-2 walk induces a sway motion that disturbs the regulation of the visual control law, we introduce a control law allowing convergence in the image space and taking into account this sway motion.