Gait of Quadruped Robot Including Positioning Control Using Linear Visual Servoing
Yukinari Inoue* and Noriaki Maru**
*Noritsu Kouki Co. Ltd., 579-1 Umehara, Wakayama, Wakayama, Japan
**Faculty of Systems Engineering, Wakayama University, 930 Sakaedani, Wakayama, Wakayama 640-8510, Japan
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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