On the integration of vision and CPG based locomotion for path planning of a nonholonomic humanoid crawling robot

In this paper we present our work on integrating a CPG based locomotion controller with a vision tracker, and an inverse kinematics solver to design a motion planning algorithm based on potential fields for a non holonomic crawling humanoid robot, the iCub. We study the influence of the various parameters of the potential field equations on the performance of the system and prove the efficiency of our framework by testing it on a realistic robotics environment and partially on the real iCub.

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