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• W2039329940 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." @default.
• W2039329940 created "2016-06-24" @default.
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• W2039329940 date "2010-10-01" @default.
• W2039329940 modified "2023-09-26" @default.
• W2039329940 title "Cancelling the sway motion of dynamic walking in visual servoing" @default.
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• W2039329940 doi "https://doi.org/10.1109/iros.2010.5649126" @default.
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