Motion stabilization of biped robot by gaze control

Abstract

We present a motion stabilization system for a biped robot that makes it possible to keep relative posture and position to a moving or stationary object. Our system consists of two layers of control subsystems, gaze control system and motion control system. In order to achieve an actual motion which follows exactly a scheduled one, the biped robot gazes a target to estimate errors of robot motion and adjusts both an actual motion and the scheduled one simultaneously. T h e gaze control system h as 2 D O F controller which uses a scheduled robot motion in the feed forward part. A periodic motion of robot body swing induced by walking is used to estimate the distance to the target by forming a motion stereo. The scheduled motion is adjusted based on an adaptive law of Model Reference Adaptive Control (MRAC ). Copyright © 2005 by MVA Conference Committee.