TY - GEN
T1 - Real-time model based visual servoing tasks on a humanoid robot
AU - Moughlbay, Amine Abou
AU - Cervera, Enric
AU - Martinet, Philippe
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/84872821412
U2 - 10.1007/978-3-642-33926-4_30
DO - 10.1007/978-3-642-33926-4_30
M3 - Conference contribution
AN - SCOPUS:84872821412
SN - 9783642339257
T3 - Advances in Intelligent Systems and Computing
SP - 321
EP - 333
BT - Intelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012
PB - Springer Verlag
T2 - 12th International Conference on Intelligent Autonomous Systems, IAS 2012
Y2 - 26 June 2012 through 29 June 2012
ER -