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Mansard07a

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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Abstract

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

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François Chaumette

BibTex Reference

@InProceedings{Mansard07a,
   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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