Gait of Quadruped Robot Including Positioning Control Using Linear Visual Servoing | Zendy

Yukinari Inoue | Zendy; Noriaki Maru | Zendy

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Gait of Quadruped Robot Including Positioning Control Using Linear Visual Servoing

Author(s) -

Yukinari Inoue,

Noriaki Maru

Publication year - 2011

Publication title -

international journal of automation technology

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.513

H-Index - 18

eISSN - 1883-8022

pISSN - 1881-7629

DOI - 10.20965/ijat.2011.p0649

Subject(s) - visual servoing , robot , computer vision , potentiometer , artificial intelligence , computer science , control theory (sociology) , gait , control (management) , engineering , physical medicine and rehabilitation , medicine , voltage , electrical engineering

Quadruped robots walking in discrete environments conventionally control leg swinging using either simple potentiometer-based feedback or feed forward. We think accurate positioning control for a safe landing using visual servoing is required. Conventional visual servoing, however, has problems such as requiring complex nonlinear calculation with exact camera and joint angles. To solve these problems, we propose Linear Visual Servoing (LVS) for positioning the quadruped robot leg in a gait. We show that the robot can make minor adjustments despite error between planned and safe landing points.

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