Real-time model based visual servoing tasks on a humanoid robot

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.