Visually-Guided Grasping while Walking on a Humanoid Robot

In this paper, we apply a general framework for building complex whole-body control for highly redundant robot, and we propose to implement it for visually-guided grasping while walking on a humanoid robot. The key idea is to divide the control into several sensor-based control tasks that are simultaneously executed by a general structure called stack of tasks. This structure enables a very simple access for task sequencing, and can be used for task-level control. This framework was applied for a visual servoing task. The robot walks along a planed path, keeping the specified object in the middle of its field of view and finally, when it is close enough, the robot grasps the object while walking.

Authors

• Nicolas Mansard
• Olivier Stasse
• François Chaumette
• Kazuhito Yokoi

Keywords

• Legged locomotion
• Humanoid robots
• Robot sensing systems
• Visual servoing
• Robotics and automation
• Convergence
• Foot
• Feedback
• Motion control
• Robot control
• Walking
• Humanoid Robot
• Sequential Task
• Degrees Of Freedom
• Center Of Mass
• Efficient Way
• Optimal Control
• Articular
• Upper Body
• Control Loop
• Path Planning
• High Level Of Control
• End-effector
• Pattern Generator
• Cervical Vertebrae
• Reactive Control
• Camera Frame
• Joint Velocity
• Joint Limits
• Motion Generation
• Inverted Pendulum
• Stereo Camera
• Robot Motion
• Cost Function
• Robot Model
• Reference Position
• Inverse Problem
• Body Motion