Visually-Guided Grasping while Walking on a Humanoid Robot

— In this paper, we apply a general framework for building complex whole-body control for highly redundant robot, and we propose to implement it for visually-guided grasping while walking on a humanoid robot. The key idea is to divide the control into several sensor-based control tasks that are simultaneously executed by a general structure called stack of tasks. This structure enables a very simple access for task sequencing, and can be used for task-level control. This framework was applied for a visual servoing task. The robot walks along a planed path, keeping the specified object in the middle of its field of view and finally, when it is close enough, the robot grasps the object while walking .

• Type: Conference
• Year: 2007
• Where: ICRA
• Authors: Nicolas Mansard, Olivier Stasse, François Chaumette, Kazuhito Yokoi
• Keywords: Complex Whole-body Control, ICRA 2007, Redundant Robot, Robotics, Sensor-based Control Tasks