Visual servo walking control for humanoids with finite-time convergence and smooth robot velocities.
Josafat DelfinHéctor M. BecerraGustavo ArechavaletaPublished in: Int. J. Control (2016)
Keyphrases
- walking robot
- control loop
- biped robot
- legged robots
- visual feedback
- control system
- humanoid robot
- robot manipulators
- robot control
- autonomous robots
- control signals
- mobile robot
- robotic systems
- lower extremity
- hand eye
- degrees of freedom
- adaptive control
- reference trajectory
- visual servoing
- end effector
- robotic arm
- vision system
- force control
- inverted pendulum
- motion control
- biped walking
- robot behavior
- robot navigation
- multi modal
- limit cycle
- initial conditions
- central pattern generator
- legged locomotion
- sagittal plane
- modular robots
- robotic manipulator
- human operators
- control method
- convergence rate
- visual features
- robot motion
- home environment
- kinematic model
- trajectory tracking
- control strategy
- closed loop
- image sequences
- real time