%0 Conference Proceedings
%F Mansard07a
%A Mansard, N.
%A Stasse, O.
%A Chaumette, F.
%A Yokoi, K.
%T Visually-guided grasping while walking on a humanoid robot
%B IEEE Int. Conf. on Robotics and Automation, ICRA'07
%P 3041-3047
%C Roma, Italy
%X In this paper, we apply a general framework for building complex whole-body control for highly redundant robot, and we propose to implement it for visually-guided grasping while walking on a humanoid robot. The key idea is to divide the control into several sensor-based control tasks that are simultaneously executed by a general structure called stack of tasks. This structure enables a very simple access for task sequencing, and can be used for task-level control. This framework was applied for a visual servoing task. The robot walks along a planned path, keeping the specified object in the middle of its field of view and finally, when it is close enough, the robot grasps the object while walking
%U http://rainbow-doc.irisa.fr/pdf/2007_icra_mansard.pdf
%U http://dx.doi.org/10.1109/ROBOT.2007.363934
%8 April
%D 2007