Object manipulation of a humanoid robot based on visual servoing

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

doi:10.1109/IROS.2007.4399445

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

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-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 language	English
Title of host publication	Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages	1124-1129
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2007.4399445
Publication status	Published - 2007
Event	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States Duration: 29 Oct 2007 → 2 Nov 2007

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Conference

Conference	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Country/Territory	United States
City	San Diego, CA
Period	29/10/07 → 2/11/07

Keywords

Humanoid robot
Reach-to-grasp
Visual servoing

Access to Document

10.1109/IROS.2007.4399445

Cite this

Pang, Y., Huang, Q., Jia, D., Tian, Y., Gao, J., & Zhang, W. (2007). Object manipulation of a humanoid robot based on visual servoing. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 (pp. 1124-1129). Article 4399445 (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2007.4399445

@inproceedings{fea44fae41264aa1965930b1f1637a8f,

title = "Object manipulation of a humanoid robot based on visual servoing",

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.",

keywords = "Humanoid robot, Reach-to-grasp, Visual servoing",

author = "Yunting Pang and Qiang Huang and Dongyong Jia and Ye Tian and Junyao Gao and Weimin Zhang",

year = "2007",

doi = "10.1109/IROS.2007.4399445",

language = "English",

isbn = "1424409128",

series = "IEEE International Conference on Intelligent Robots and Systems",

pages = "1124--1129",

booktitle = "Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007",

note = "2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 ; Conference date: 29-10-2007 Through 02-11-2007",

}

Pang, Y, Huang, Q, Jia, D, Tian, Y, Gao, J & Zhang, W 2007, Object manipulation of a humanoid robot based on visual servoing. in Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007., 4399445, IEEE International Conference on Intelligent Robots and Systems, pp. 1124-1129, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, San Diego, CA, United States, 29/10/07. https://doi.org/10.1109/IROS.2007.4399445

Object manipulation of a humanoid robot based on visual servoing. / Pang, Yunting; Huang, Qiang; Jia, Dongyong et al.
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. p. 1124-1129 4399445 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Tian, Ye

AU - Gao, Junyao

AU - Zhang, Weimin

PY - 2007

Y1 - 2007

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AB - 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.

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Y2 - 29 October 2007 through 2 November 2007

ER -

Object manipulation of a humanoid robot based on visual servoing

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Keywords

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