Motion Stabilization of Biped Robot by Gaze Control

摘要

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. The gaze control system has 2 DOF controller, visual feedback part and feedforward part based on a scheduled robot motion. A periodic motion of robot body swing induced by walking allows us 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) .