Skip to Main content Skip to Navigation
New interface
Conference papers

Cancelling the sway motion of dynamic walking in visual servoing

Claire Dune 1 Andrei Herdt 2 Olivier Stasse 1 Pierre-Brice Wieber 2 Kazuhito Yokoi 1 Eiichi Yoshida 1 
2 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, Grenoble INP - Institut polytechnique de Grenoble - Grenoble Institute of Technology
Abstract : 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.
Document type :
Conference papers
Complete list of metadata

Cited literature [17 references]  Display  Hide  Download
Contributor : Pierre-Brice Wieber Connect in order to contact the contributor
Submitted on : Monday, February 21, 2011 - 3:55:30 PM
Last modification on : Tuesday, July 26, 2022 - 3:49:26 AM
Long-term archiving on: : Sunday, May 22, 2011 - 3:01:49 AM


Files produced by the author(s)



Claire Dune, Andrei Herdt, Olivier Stasse, Pierre-Brice Wieber, Kazuhito Yokoi, et al.. Cancelling the sway motion of dynamic walking in visual servoing. IROS 2010 - IEEE-RSJ International Conference on Intelligent Robots & Systems, Oct 2010, Taipei, Taiwan. pp.3175-3180, ⟨10.1109/IROS.2010.5649126⟩. ⟨inria-00567664⟩



Record views


Files downloads