Object manipulation of a humanoid robot based on visual servoing

Yunting Pang*, Qiang Huang, Dongyong Jia, Ye Tian, Junyao Gao, Weimin Zhang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

8 Citations (Scopus)

Abstract

Vision is a very important noncontact sensor for humanoid robots. In this paper, a method combining visual feedforward and visual feedback is proposed to implement reach-to-grasp task for a humanoid robot. Visual feedforward facilitates the reach-to-grasp task and reduces the manipulation time. 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 the experiment results.

Original languageEnglish
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages1124-1129
Number of pages6
DOIs
Publication statusPublished - 2007
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: 29 Oct 20072 Nov 2007

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Conference

Conference2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Country/TerritoryUnited States
CitySan Diego, CA
Period29/10/072/11/07

Keywords

  • Humanoid robot
  • Reach-to-grasp
  • Visual servoing

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