Vision-based Motion Control of a Biped Robot Using 2 DOF Gaze Control Structure

Vision-based Motion Control of a Biped Robot Using 2 DOF Gaze Control Structure

by Shun Ushida

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In this paper, we discussed both a necessity and importance of gaze control mechanism on vision-based motion control of biped robots. Human eye structure and the eye movements, and brain motor control through a central nervous system were considered as an analogy with robotics. In fact, human has powerful control mechanism with vision in order to realize a various type of motions against uncertain environments. As a result, we showed that gaze control mechanism and integrated hierarchical struc…

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Title Statements

  • Full title :Vision-based Motion Control of a Biped Robot Using 2 DOF Gaze Control Structure.

Summary

In this paper, we discussed both a necessity and importance of gaze control mechanism on vision-based motion control of biped robots. Human eye structure and the eye movements, and brain motor control through a central nervous system were considered as an analogy with robotics. In fact, human has powerful control mechanism with vision in order to realize a various type of motions against uncertain environments. As a result, we showed that gaze control mechanism and integrated hierarchical structure like human motor control are indispensable for a vision system of biped robots. We can conclude that in order to overcome many difficulties of aspects of both a limitation of available hardware resources for a vision and a real-time image processing for motor control, we need not only gaze control mechanism but also use of the image processing technologies as shown in Fig. 15. We proposed a concept of the range of gaze and gaze control system with database structure. The use of both image processing and control theory allows us to realize an integrated hierarchical structure on the biped robot motion control as shown in Fig. 3. Furthermore, using the range of gaze, we can evaluate the gaze control performance from the point of view of the availability of visual information for robot motion control.

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Edition Statements

  • Publication Date:2007.

Publication Statements

The Physical Object

  • Description:1 online resource

Edition Identifiers

  • ISBN:9783902613073, 3902613076
  • oclc:ocn884020926

Subjects

Open Access Collection

Writers

Shun Ushida Koichiro Deguchi

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