Abstract
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.
| Original language | English |
|---|---|
| Pages (from-to) | 983-987 |
| Number of pages | 5 |
| Journal | Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology |
| Volume | 29 |
| Issue number | 11 |
| Publication status | Published - Nov 2009 |
Keywords
- Humanoid robot
- Reach-to-grasp
- Visual servoing
Fingerprint
Dive into the research topics of 'Object manipulation of a humanoid robot based on visual feedforward and visual feedback'. Together they form a unique fingerprint.Cite this
- APA
- Author
- BIBTEX
- Harvard
- Standard
- RIS
- Vancouver