Vision-Guided Swaying Controller for Legged Robots by Visual Servoing

This paper describes a vision-based servoing control scheme for legged robots to achieve a swaying task utilizing a visual servoing technique. Reactive motions are realized by the servoing scheme which makes it unnecessary to program the exact motion in advance based on the analysis of the kinematics/dynamics of the system. The proposed scheme is a hybrid one consisting of a controller to keep the distances between feet constant (a stance servoing controller), and a visual servoing controller. Some experimental results are shown to demonstrate the effectiveness of the proposed scheme.