摘要
According to the reach-to-grasp task for a humanoid robot, a method combining visual feedforward and visual feedback is proposed. Reverse kinematics algorithm based on the grid is used in the visual feedforward to facilitate the reach-to-grasp task and reduces the manipulation time. The visual feedback increases the robustness by compensating the weak calibration error. The combination of two control strategies facilitates reach-to-grasp task for a humanoid robot. The robustness of the system is confirmed by experimental results.
| 源语言 | 英语 |
|---|---|
| 页（从-至） | 983-987 |
| 页数 | 5 |
| 期刊 | Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology |
| 卷 | 29 |
| 期 | 11 |
| 出版状态 | 已出版 - 11月 2009 |