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Vision based control for Humanoid robots

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Academic year: 2021

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Figure

Fig. 1. The robot has to reach a desired position with regards to an object
Fig. 3 depicts the tracking principle. 1) Starting fro m an initial pose, the lines of the 3D object m odel are projected on the i m age and sa m pled (light blue lines and black points).
Fig. 4. K is the current ca m era fra m e and K is the ca m era position obtained if the visual servoing velocity is applied without the walking constraints.
Fig. 5. Model tracking while walking on a square on the ground. The robot firstly walks forward, then sideways, then backwards, and sideways again to reach its initial position
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