Improving balance regulation in visuo-motor control for humanoid robots

We know various strategies toward teaching and controlling humanoid robots. Some refer to direct joint or tip control and others use more intuitive approach such as mimicking human motion in a certain task. This kind of robot control, where a robot is considered a tool, controlled by a human demonstrator, is called visuo-motion control. In this paper, we present an improved approach to overcome a problem of balance in visuo-motor control of humanoid robots.