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2013 | OriginalPaper | Chapter

Real-Time Model Based Visual Servoing Tasks on a Humanoid Robot

Authors : Amine Abou Moughlbay, Enric Cervera, Philippe Martinet

Published in: Intelligent Autonomous Systems 12

Publisher: Springer Berlin Heidelberg

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Several model based techniques have been used to apply various domestic service tasks on humanoid robots ( through teleoperation, learning, ...). But for many reasons, it is more suitable to study the interaction between the robot and its environment using the Sensor Based Control in these cases. In this paper we present a work of integration of real-time visual servoing techniques in performing self localization and different manipulation tasks on a humanoid robot in closed loop.

Real-time model based tracking techniques are used to apply 3D visual servoing tasks on the Nao humanoid robot. Elementary tasks used by the robot to perform a concrete scenario are detailed with their corresponding control laws. Experimental results are presented for the following tasks: self-localization of the robot while walking, head servoing for the visibility task, detection, tracking and manipulation of environment’s objects.

Metadata
Title
Real-Time Model Based Visual Servoing Tasks on a Humanoid Robot
Authors
Amine Abou Moughlbay
Enric Cervera
Philippe Martinet
Copyright Year
2013
Publisher
Springer Berlin Heidelberg
DOI
https://doi.org/10.1007/978-3-642-33926-4_30

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