Goal-oriented vision-guided biped locomotion requires a high degree of coordination between perception and walking. How to establish this coordination remains a fundamental and mrely studied problem in legged robotics. Some of OUT investigations into this field are outlined in this article by presenting recent results in uision-guided biped locomotion. The guidance and control approaches developed are experimentally validated on the biped robot BARt-UH'. It is shown how perception techniques ure employed in closed-loop for step sequence adaptation and locomotion control of a walking machine.

No abstract