Gait of Quadruped Robot Including Positioning  Control Using Linear Visual Servoing

Yukinari Inoue; Noriaki Maru

doi:10.20965/ijat.2011.p0649

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IJAT Vol.5 No.5 pp. 649-654

doi: 10.20965/ijat.2011.p0649

(2011)

Paper:

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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

Received:

October 6, 2010

Accepted:

May 20, 2011

Published:

September 5, 2011

Keywords:

quadruped robot, linear visual servoing, positioning control, binocular visual space

Abstract

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.

Cite this article as:

Yukinari Inoue and Noriaki Maru, “Gait of Quadruped Robot Including Positioning Control Using Linear Visual Servoing,” Int. J. Automation Technol., Vol.5, No.5, pp. 649-654, 2011.

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References

[1] L. E.Weiss, A. C. Sanderson, and C. P. Neuman, “Dynamic sensorbased control of robots with visual feedback,” IEEE Trans. Robotics and Automation, Vol.RA-3, No.5, pp. 404-417, 1987.
[2] K. Hasimoto, T. Ebine, and H. Kimura, “Visual servoing with Hand-Eye manipulator – Optical Control Approach,” IEEE Trans. Robotics and Automation, Vol.12, No.5, pp. 766-774, 1996.
[3] N. Maru, H. Kase, S. Yamada, and F. Miyazaki, “Manipulator control by visual servoing with the streo vision,” Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.3, pp. 1865-1870, 1993.
[4] T. Mitsuda, N. Maru, K. Fujikawa, and F. Miyazaki, “Linear Approximation of the Inverse Kinematics by using a Binocular Visual space,” J. of the Robotics Society of Japan, Vol.14, No.8, pp. 1145-1151, 1996. (In Japanese)
[5] T. Mitsuda, N. Maru, and F. Miyazaki, “Binocular visual servoing based on linear time-invariant mapping,” Advanced Robotics, Vol.11, No.5, pp. 429-443, 1997.
[6] K. Namba and N. Maru, “3D Positioning Control by Linear Visual Servoing,” Int. J. of Artificial Life and Robotics, Vol. 7, pp. 28-31, 2003.
[7] K. Okamoto, K. Yamaguchi, and N. Maru, “Following Control of Mobile Robot by Linear Visual Servoing,” J. of the Japan Society of Mechanical Engineers C, pp. 1840-1847, 2006.
[8] T. Miyashita, K. Hosoda, and M. Asada, “Reflective walk based on lifted leg control and vision-cued swaying control,” Proc. of 1998 BSMEE Int. Symposium on Climbing and Walking Robots (CLAWAR’98), pp. 349-354, 1998.

[1] [1] L. E.Weiss, A. C. Sanderson, and C. P. Neuman, “Dynamic sensorbased control of robots with visual feedback,” IEEE Trans. Robotics and Automation, Vol.RA-3, No.5, pp. 404-417, 1987.

[2] [2] K. Hasimoto, T. Ebine, and H. Kimura, “Visual servoing with Hand-Eye manipulator – Optical Control Approach,” IEEE Trans. Robotics and Automation, Vol.12, No.5, pp. 766-774, 1996.

[3] [3] N. Maru, H. Kase, S. Yamada, and F. Miyazaki, “Manipulator control by visual servoing with the streo vision,” Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.3, pp. 1865-1870, 1993.

[4] [4] T. Mitsuda, N. Maru, K. Fujikawa, and F. Miyazaki, “Linear Approximation of the Inverse Kinematics by using a Binocular Visual space,” J. of the Robotics Society of Japan, Vol.14, No.8, pp. 1145-1151, 1996. (In Japanese)

[5] [5] T. Mitsuda, N. Maru, and F. Miyazaki, “Binocular visual servoing based on linear time-invariant mapping,” Advanced Robotics, Vol.11, No.5, pp. 429-443, 1997.

[6] [6] K. Namba and N. Maru, “3D Positioning Control by Linear Visual Servoing,” Int. J. of Artificial Life and Robotics, Vol. 7, pp. 28-31, 2003.

[7] [7] K. Okamoto, K. Yamaguchi, and N. Maru, “Following Control of Mobile Robot by Linear Visual Servoing,” J. of the Japan Society of Mechanical Engineers C, pp. 1840-1847, 2006.

[8] [8] T. Miyashita, K. Hosoda, and M. Asada, “Reflective walk based on lifted leg control and vision-cued swaying control,” Proc. of 1998 BSMEE Int. Symposium on Climbing and Walking Robots (CLAWAR’98), pp. 349-354, 1998.

Gait of Quadruped Robot Including Positioning Control Using Linear Visual Servoing

Yukinari Inoue* and Noriaki Maru**

Yukinari Inoue^* and Noriaki Maru^**