Motion control with integration to visual environmental information for biped walking robot

2014 Fiscal Year Final Research Report

• Project/Area Number: 24560269
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Dynamics/Control
• Research Institution: Chitose Institute of Science and Technology
• Principal Investigator: ODA NAOKI 千歳科学技術大学, 総合光科学部, 教授 (70305960)
• Project Period (FY): 2012-04-01 – 2015-03-31
• Keywords: 二足歩行ロボット / ゼロモーメントポイント / ロボットビジョン / 画像認識 / ビジュアルフィードバック制御 / 安定化制御 / モーションコントロール

Outline of Final Research Achievements

This research aims to develop a motion control technique with integrating to visual environmental information for biped walking robot. In conventional approach, the dynamic balance of the biped robot is mainly controlled by using force and internal sensors, and the vision-based information recognized from camera image is used for motion and gait planning. On the other hand, this approach enables that the dynamic balance and stabilization of the walking motion are controlled principally from visual information. The proposed approach can realize active control with relating to the environments, and contributes to the enhancements of the control reliability and performance of walking motion.

Free Research Field

ロボットのモーションコントロール，ロボットビジョン