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N. Mansard, O. Stasse, F. Chaumette, K. Yokoi. Visually-guided grasping while walking on a humanoid robot. In IEEE Int. Conf. on Robotics and Automation, ICRA'07, Pages 3041-3047, Roma, Italy, April 2007.

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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 planned 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


François Chaumette

BibTex Reference

   Author = {Mansard, N. and Stasse, O. and Chaumette, F. and Yokoi, K.},
   Title = {Visually-guided grasping while walking on a humanoid robot},
   BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA'07},
   Pages = {3041--3047},
   Address = {Roma, Italy},
   Month = {April},
   Year = {2007}

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