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Paper TuA07.5

Gay, Sébastien (EPFL Ecole Polytechnique Fédérale de Lausanne), Santos-Victor, José (Instituto Superior Técnico - Institute for Systems andRobotics), Ijspeert, Auke (EPFL)

Predictive Gaze Stabilization During Periodic Locomotion Based on Adaptive Frequency Oscillators

Scheduled for presentation during the Regular Session "Robust and Adaptive Control of Robotic Systems" (TuA07), Tuesday, May 15, 2012, 09:30−09:45, Meeting Room 7 (Remnicha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on February 21, 2018

Keywords Robust/Adaptive Control of Robotic Systems, Learning and Adaptive Systems, Visual Servoing

Abstract

In this paper we present an approach to the problem of stabilizating the gaze of legged robots using Adaptive Frequency Oscillators to learn the frequency, phase and amplitude of the optical flow and generate compensatory commands during robot locomotion. Assuming periodic and nearly sine shaped motion of the head of the robot, the system successfully stabilizes the gaze of the robot, whether the robot itself is moving, or an external object is moving relative to the robot. We present experiments in simulation and, for object tracking, with a real robotics setup, the Hoap 3, showing that the system can be successfully applied to gaze stabilization during locomotion, even when the feedback loop is very slow and noisy.

 

 

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