Abstract
We propose a positioning control method of the 4 legs of the quadruped robot by Linear Visual Servoing(LVS) using stereo omnidirectional camera. It is based on the linear approximation of the relation between binocular visual space and joint space. Binocular visual space is defined by vergence angle and horizontal and vertical viewing directions. LVS uses the constant linear approximation matrix with neither camera angles nor joint angles to calculate feedback command. Therefore, LVS is very robust to calibration error, especially to camera angles and joint angles and the amount of caliculation is very small to compared to the conventional visual servoing scheme.
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