Use this resource - and many more! - in your textbook!
AcademicPub holds over eight million pieces of educational content for you to mix-and-match your way.
Online humanoid walking control system and a moving goal tracking experiment
2003 / IEEE / 0-7803-7736-2
This item was taken from the IEEE Conference ' Online humanoid walking control system and a moving goal tracking experiment ' We present a humanoid walking control system that generates body trajectories to follow a given desired motion online. A layered software and control architecture is used to aggregate system components and provide a framework for high-level autonomous locomotion behaviors. Walking characteristics such as desired torso movements, upper body posture and step cycles, can be specified and used to generate stable whole-body walking trajectories online. The basic architecture consists of 4 layers: footstep planning, trajectory generation, trajectory modification from sensor feedback, and joint servo control. In order to test the complete system, we implemented an experimental top-level behavior that enables the robot to track and follow a moving target based on stereo vision feedback. We explain the overall system design and components, and present results based on our current implementation using the humanoid robot 'H7'.
Control System Synthesis
Humanoid Robot H7
Humanoid Walking Control System
Joint Servo Control
Stereo Vision Feedback
Sensor Phenomena And Characterization
Stereo Image Processing