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Combining visual servoing and walking in an acceleration resolved whole-body control framework

Don Joven Agravante 1 François Chaumette 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : This work aims to create a solution to executing visually guided tasks on a humanoid robot while taking advantage of its floating base. The base framework is an acceleration-resolved weighted Quadratic Programming approach for whole-body control.
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https://hal.inria.fr/hal-01358639
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Submitted on : Thursday, September 1, 2016 - 11:03:42 AM
Last modification on : Friday, July 10, 2020 - 4:15:22 PM
Long-term archiving on: : Saturday, December 3, 2016 - 8:53:09 AM

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  • HAL Id : hal-01358639, version 1

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Don Joven Agravante, François Chaumette. Combining visual servoing and walking in an acceleration resolved whole-body control framework. 2016. ⟨hal-01358639⟩

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